GMRV Publications

Natural Tactile Interaction with Virtual Clay

Héctor Barreiro, Joan Torres, Miguel A. Otaduy
Proc. of World Haptics Conference - 2021
Download the publication : Barreiro_WHC2021_final.pdf [3.3Mo]  
Despite many past efforts to develop haptic experiences of virtual clay modeling, natural interaction with virtual clay remains a hard challenge. In this work, we propose a computational solution for the interactive simulation of clay-like materials with unprecedented realism, coupled with free-air tactile rendering that provides a natural tangible experience. Our solution includes a novel particle-based model of viscoplasticity for efficient interactive simulation, and an optimization-based ultrasound rendering algorithm that takes as input the interaction forces between a virtual hand model and the clay-like material. We demonstrate the effectiveness of our method through expressive creative experiences.

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BibTex references

  author       = "Barreiro, Héctor and Torres, Joan and Otaduy, Miguel A.",
  title        = "Natural Tactile Interaction with Virtual Clay",
  booktitle    = "Proc. of World Haptics Conference",
  year         = "2021",
  url          = ""

Other publications in the database

» Héctor Barreiro
» Miguel A. Otaduy