Real time haptic simulation of deformable bodies [Elektronische Ressource] / Chen Zhao

TECHNISCHE UNIVERSITÄT MÜNCHENLEHRSTUHL FÜR ANGEWANDTE MECHANIKReal Time Haptic Simulation ofDeformable BodiesDipl.-Ing. Univ. Chen ZhaoVollständiger Abdruck der von der Fakultät für Maschinenwesen derTechnischen Universität München zur Erlangung des akademischen Grades einesDoktor-Ingenieursgenehmigten Dissertation.Vorsitzender:Univ.-Prof. Dr.-Ing. Gunther ReinhartPrüfer der Dissertation:1. Univ.-Prof. Dr.-Ing. habil. Heinz Ulbrich2. Dr.-Ing. Dr.-Ing. habil. Alois KnollDie Dissertation wurde am 16.09.2009 bei der Technischen Universität Müncheneingereicht und durch die Fakultät für Maschinenwesen am 08.02.2010 angenommen.IIIFor My FamilyIVAcknowledgementThis dissertation presents my research work done in the institute of AppliedMechanics at the Technical University of Munich (Technische Universität München),asaresearchassistant. IwouldliketothankmyPh.D.supervisorandtheexaminationboard. At the same time, I appreciate my friends and colleagues, who have helpedme by discussions of different topics and review of my dissertation, as well as anumber of people who provided comments, support and advice.I would like to gratefully and sincerely thank my family and relatives, especiallymy parents and my grandparents. They support me continuously in every situationwithout any conditions. With their instruction and guide, I could always be headingin the correct direction. I would also like to express my gratitude to my wife forher supporting.