A time series based solution for the difference rate sampling between haptic rendering and visual display

In the haptic rendering system that allows the force display of complex deformable objects, the coherence remains difficult because of the different refresh frequencies necessary for real-time haptic display and realistic visual display. In this paper, a time series based predict method is proposed to extrapolate the force computed by the deformable model to go beyond interactively to haptic real-time. The principle of the time series method is introduced, and then a detailed analysis and experimental verification of the approach are described and illustrated. In the experiment, our method is compared with other two extrapolation methods and shows its feasibility.