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A hybrid dynamic deformation model that is capable of haptic interaction with dynamically deformable objects is presented. This approach is also capable of taking into account large deformation and topological changes of objects. The amount of computation required in this approach is proportional to the sum of the square of the number of shared nodes and the number of whole nodes of an online-remesh model. We implemented the approach in our prototype system and confirmed the feasibility and performance through experiments.

A Hybrid Dynamic Deformation Model for Surgery Simulation