In this paper we describe the design and implementation of an automated system to build models of elastic deformable objects and to render these models in an interactive virtual environment. By automating model creation, a greater number of models and models that are more realistic can be included in these interactive simulations. Model geometry is acquired by a novel range sensor. Techniques for contact detection, slip detection on deformable surfaces, and enhanced open-loop force control enable haptic model acquisition through active probing with a haptic device. For model rendering, the force field is approximated from these measured samples.
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