Haptic Water; Haptics on an Animated Surface

Haptic rendering [3] is becoming an important element of multimodal interaction. Often a real-time coupling between haptics and visualization is required, based upon an underlying physical model. In this paper, we study haptic rendering and visualization of the generation of waves in shallow water. For applications, it is usually more important to come up with a believable simulation, rather than a physically accurate simulation. Therefore our focus was on obtaining suitable simplifications of the Kass-Miller model [1], and incorporation into a multimodal environment, aiming at haptic rendering and real-time visualization of waves. The result has been implemented and tested using a Haptic Master device, produced by FCS Control Systems [2].