Real-time volume haptic rendering of non-linear viscoelastic behavior of soft tissue through dynamic atomic unit approach.

: The aim of computer haptics is to enable the user to touch, feel and maneuver virtual objects using a haptic interface. As the user "feels" the virtual object by applying force through the interface, complex calculations have to be done in real-time to generate a feedback force appropriate to the material properties of the object being "touched". In this paper we propose a method for modeling soft bodies, which incorporate non-linear, viscoelastic, anisotropic behavior that will enable real-time user interaction and still satisfy the high force-feedback frequency requirements. In this paper, we restrict the user interaction with virtual objects to palpation.