{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,17]],"date-time":"2026-05-17T04:24:50Z","timestamp":1778991890245,"version":"3.51.4"},"reference-count":81,"publisher":"Association for Computing Machinery (ACM)","issue":"6","license":[{"start":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T00:00:00Z","timestamp":1701734400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IIS-1911224"],"award-info":[{"award-number":["IIS-1911224"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2023,12,5]]},"abstract":"<jats:p>Capturing material properties of real-world elastic solids is both challenging and highly relevant to many applications in computer graphics, robotics and related fields. We give a non-intrusive, in-situ and inexpensive approach to measure the nonlinear elastic energy density function of man-made materials and biological tissues. We poke the elastic object with 3d-printed rigid cylinders of known radii, and use a precision force meter to record the contact force as a function of the indentation depth, which we measure using a force meter stand, or a novel unconstrained laser setup. We model the 3D elastic solid using the Finite Element Method (FEM), and elastic energy using a compressible Valanis-Landel material that generalizes Neo-Hookean materials by permitting arbitrary tensile behavior under large deformations. We then use optimization to fit the nonlinear isotropic elastic energy so that the FEM contact forces and indentations match their measured real-world counterparts. Because we use carefully designed cubic splines, our materials are accurate in a large range of stretches and robust to inversions, and are therefore \"animation-ready\" for computer graphics applications. We demonstrate how to exploit radial symmetry to convert the 3D elastostatic contact problem to the mathematically equivalent 2D problem, which vastly accelerates optimization. We also greatly improve the theory and robustness of stretch-based elastic materials, by giving a simple and elegant formula to compute the tangent stiffness matrix, with rigorous proofs and singularity handling. We also contribute the observation that volume compressibility can be estimated by poking with rigid cylinders of different radii, which avoids optical cameras and greatly simplifies experiments. We validate our method by performing full 3D simulations using the optimized materials and confirming that they match real-world forces, indentations and real deformed 3D shapes. We also validate it using a \"Shore 00\" durometer, a standard device for measuring material hardness.<\/jats:p>","DOI":"10.1145\/3618406","type":"journal-article","created":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T10:20:48Z","timestamp":1701771648000},"page":"1-27","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Capturing Animation-Ready Isotropic Materials Using Systematic Poking"],"prefix":"10.1145","volume":"42","author":[{"given":"Huanyu","family":"Chen","sequence":"first","affiliation":[{"name":"University of Southern California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Danyong","family":"Zhao","sequence":"additional","affiliation":[{"name":"University of Southern California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jernej","family":"Barbi\u010d","sequence":"additional","affiliation":[{"name":"University of Southern California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2023,12,5]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.14720"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/0022-5096(93)90013-6"},{"key":"e_1_2_2_3_1","volume-title":"O'Brien","author":"Bailey Stephen W.","year":"2020","unstructured":"Stephen W. Bailey, Dalton Omens, Paul Dilorenzo, and James F. O'Brien. 2020. Fast and Deep Facial Deformations. ACM Trans. on Graphics (SIGGRAPH 2020) 39, 4 (2020), 94:1--15."},{"key":"e_1_2_2_4_1","volume-title":"Fun Shing Sin, and Daniel Schroeder","author":"Barbi\u010d Jernej","year":"2012","unstructured":"Jernej Barbi\u010d, Fun Shing Sin, and Daniel Schroeder. 2012. Vega FEM Library. http:\/\/www.jernejbarbic.com\/vega."},{"key":"e_1_2_2_5_1","volume-title":"Proceedings of Simulation and Visualization, 15--28","author":"Becker Markus","year":"2007","unstructured":"Markus Becker and Matthias Teschner. 2007. Robust and Efficient Estimation of Elasticity Parameters using the linear Finite Element Method. Proceedings of Simulation and Visualization, 15--28."},{"key":"e_1_2_2_6_1","volume-title":"Proceedings of Symp. on Computer Animation. 37--51","author":"Bhat Kiran S.","unstructured":"Kiran S. Bhat, Christopher D. Twigg, Jessica K. Hodgins, Pradeep K. Khosla, Zoran Popovi\u0107, and Steven M. Seitz. 2003. Estimating Cloth Simulation Parameters from Video. In Proceedings of Symp. on Computer Animation. 37--51."},{"key":"e_1_2_2_7_1","volume-title":"Hanspeter Pfister, Markus Gross, and Wojciech Matusik.","author":"Bickel Bernd","year":"2010","unstructured":"Bernd Bickel, Moritz B\u00e4cher, Miguel A. Otaduy, Hyunho Richard Lee, Hanspeter Pfister, Markus Gross, and Wojciech Matusik. 2010. Design and Fabrication of Materials with Desired Deformation Behavior. ACM Trans. on Graphics (SIGGRAPH 2010) 29, 4, Article 63 (2010), 10 pages."},{"key":"e_1_2_2_8_1","doi-asserted-by":"crossref","unstructured":"B. Bickel M. Baecher M. Otaduy W. Matusik H. Pfister and M. Gross. 2009. Capture and Modeling of Non-Linear Heterogeneous Soft Tissue. ACM Trans. on Graphics (SIGGRAPH 2009) 28 3 (2009) 89:1--89:9.","DOI":"10.1145\/1531326.1531395"},{"key":"e_1_2_2_9_1","volume-title":"A simple orthotropic, transversely isotropic hyperelastic constitutive equation for large strain computations. Computer methods in applied mechanics and engineering 162, 1--4","author":"Bonet J","year":"1998","unstructured":"J Bonet and AJ Burton. 1998. A simple orthotropic, transversely isotropic hyperelastic constitutive equation for large strain computations. Computer methods in applied mechanics and engineering 162, 1--4 (1998), 151--164."},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/3130800.3130843"},{"key":"e_1_2_2_11_1","doi-asserted-by":"crossref","unstructured":"Alex Choi and Yong-Ping Zheng. 2005. Estimation of Young's modulus and Poisson's ratio of soft tissue from indentation using two different-sized indentors: Finite element analysis of the finite deformation effect. Med. Biol. Eng. Comput. 43 (04 2005) 258--64.","DOI":"10.1007\/BF02345964"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/3099564.3099577"},{"key":"e_1_2_2_13_1","unstructured":"Comsol. 2023. Comsol Multiphysics. http:\/\/www.comsol.com."},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(72)90047-4"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/3444949"},{"key":"e_1_2_2_16_1","volume-title":"Article 216","author":"Fu Xiao-Ming","year":"2016","unstructured":"Xiao-Ming Fu and Yang Liu. 2016. Computing Inversion-Free Mappings by Simplex Assembly. ACM Trans. on Graphics (SIGGRAPH Asia 2016) 35, 6, Article 216 (2016), 12 pages."},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/2766938"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1152\/ajplegacy.1967.213.6.1532"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/3414685.3417766"},{"key":"e_1_2_2_20_1","volume-title":"A new constitutive relation for rubber. Rubber chemistry and technology 69, 1","author":"Gent Alan N","year":"1996","unstructured":"Alan N Gent. 1996. A new constitutive relation for rubber. Rubber chemistry and technology 69, 1 (1996), 59--61."},{"key":"e_1_2_2_21_1","volume-title":"Article 236","author":"Hahn David","year":"2019","unstructured":"David Hahn, Pol Banzet, James M. Bern, and Stelian Coros. 2019. Real2Sim: Visco-Elastic Parameter Estimation from Dynamic Motion. ACM Trans. on Graphics (SIGGRAPH Asia 2019) 38, 6, Article 236 (2019), 13 pages."},{"key":"e_1_2_2_22_1","doi-asserted-by":"crossref","unstructured":"David Harmon and Denis Zorin. 2013. Subspace Integration with Local Deformations. ACM Trans. Graph. (2013) 107:1--107:10.","DOI":"10.1145\/2461912.2461922"},{"key":"e_1_2_2_23_1","unstructured":"ASTM International. 2021. Standard Test Method for Rubber Property-Durometer Hardness. D2240-15 Durometer Standard."},{"key":"e_1_2_2_24_1","volume-title":"Invertible Finite Elements for Robust Simulation of Large Deformation. In Symp. on Computer Animation (SCA). 131--140","author":"Irving G.","unstructured":"G. Irving, J. Teran, and R. Fedkiw. 2004. Invertible Finite Elements for Robust Simulation of Large Deformation. In Symp. on Computer Animation (SCA). 131--140."},{"key":"e_1_2_2_25_1","unstructured":"Krishna Murthy Jatavallabhula Miles Macklin Florian Golemo Vikram Voleti Linda Petrini Martin Weiss Breandan Considine Jerome Parent-Levesque Kevin Xie Kenny Erleben Liam Paull Florian Shkurti Derek Nowrouzezahrai and Sanja Fidler. 2021. gradSim: Differentiable simulation for system identification and visuomotor control. arXiv:2104.02646 [cs.CV]"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1215\/S0012-7094-84-05134-2"},{"key":"e_1_2_2_27_1","volume-title":"Contact mechanics","author":"Johnson Kenneth Langstreth","unstructured":"Kenneth Langstreth Johnson and Kenneth Langstreth Johnson. 1987. Contact mechanics. Cambridge university press."},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(96)00133-9"},{"key":"e_1_2_2_29_1","doi-asserted-by":"crossref","unstructured":"Rama Krishna Kandukuri Jan Achterhold Michael M\u00f6ller and J\u00f6rg St\u00fcckler. 2020. Learning to Identify Physical Parameters from Video Using Differentiable Physics. arXiv:2009.08292 [cs.CV]","DOI":"10.1007\/978-3-030-71278-5_4"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1361-8415(02)00085-3"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1007\/11566489_74"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.2140\/jomms.2008.3.1499"},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836402761412458"},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062323"},{"key":"e_1_2_2_35_1","volume-title":"Advances in Neural Information Processing Systems","volume":"32","author":"Liang Junbang","year":"2019","unstructured":"Junbang Liang, Ming Lin, and Vladlen Koltun. 2019. Differentiable Cloth Simulation for Inverse Problems. In Advances in Neural Information Processing Systems, Vol. 32. Curran Associates, Inc."},{"key":"e_1_2_2_36_1","volume-title":"Article 41","author":"Liu Ligang","year":"2018","unstructured":"Ligang Liu, Chunyang Ye, Ruiqi Ni, and Xiao-Ming Fu. 2018. Progressive Parameterizations. ACM Trans. on Graphics (SIGGRAPH 2018) 37, 4, Article 41 (2018), 12 pages."},{"key":"e_1_2_2_37_1","volume-title":"Data-Driven Estimation of Cloth Simulation Models. Computer Graphics Forum (Proc. of Eurographics) 31, 2","author":"Miguel Eder","year":"2012","unstructured":"Eder Miguel, Derek Bradley, Bernhard Thomaszewski, Bernd Bickel, Wojciech Matusik, Miguel A. Otaduy, and Steve Marschner. 2012. Data-Driven Estimation of Cloth Simulation Models. Computer Graphics Forum (Proc. of Eurographics) 31, 2 (2012)."},{"key":"e_1_2_2_38_1","volume-title":"Proc. of the 37th Annual Conference of the European Association for Computer Graphics. Eurographics Association, 385--396","author":"Miguel Eder","unstructured":"Eder Miguel, David Miraut, and Miguel A. Otaduy. 2016. Modeling and Estimation of Energy-Based Hyperelastic Objects. In Proc. of the 37th Annual Conference of the European Association for Computer Graphics. Eurographics Association, 385--396."},{"key":"e_1_2_2_39_1","volume-title":"Otaduy","author":"Miguel Eder","year":"2013","unstructured":"Eder Miguel, Rasmus Tamstorf, Derek Bradley, Sara C. Schvartzman, Bernhard Thomaszewski, Bernd Bickel, Wojciech Matusik, Steve Marschner, and Miguel A. Otaduy. 2013. Modeling and Estimation of Internal Friction in Cloth. ACM Trans. on Graphics (SIGGRAPH Asia 2013) 32, 6, Article 212 (2013), 10 pages."},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.1712836"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.5555\/1006058.1006087"},{"key":"e_1_2_2_42_1","volume-title":"Geometry of Logarithmic Strain Measures in Solid Mechanics. Archive for Rational Mechanics and Analysis (11","author":"Neff Patrizio","year":"2016","unstructured":"Patrizio Neff, Bernhard Eidel, and Robert Martin. 2016. Geometry of Logarithmic Strain Measures in Solid Mechanics. Archive for Rational Mechanics and Analysis (11 2016)."},{"key":"e_1_2_2_43_1","volume-title":"Proceedings of the Royal Society of London. A. Mathematical and Physical Sciences 326","author":"Ogden Raymond William","year":"1972","unstructured":"Raymond William Ogden. 1972. Large deformation isotropic elasticity-on the correlation of theory and experiment for incompressible rubberlike solids. Proceedings of the Royal Society of London. A. Mathematical and Physical Sciences 326, 1567 (1972), 565--584."},{"key":"e_1_2_2_44_1","volume-title":"Proceedings of the 28th Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH '01)","author":"Pai Dinesh K.","unstructured":"Dinesh K. Pai, Kees van den Doel, Doug L. James, Jochen Lang, John E. Lloyd, Joshua L. Richmond, and Som H. Yau. 2001. Scanning Physical Interaction Behavior of 3D Objects. In Proceedings of the 28th Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH '01). 87--96."},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2003.1191210"},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201296"},{"key":"e_1_2_2_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/1028523.1028539"},{"key":"e_1_2_2_48_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmbbm.2014.08.011"},{"key":"e_1_2_2_49_1","volume-title":"HP Van Kempen, and A Jones","author":"Peutz MG","year":"1968","unstructured":"MG Peutz, HP Van Kempen, and A Jones. 1968. Layered systems under normal surface loads. Highway Research Record 228 (1968)."},{"key":"e_1_2_2_50_1","unstructured":"W. Press S. Teukolsky W. Vetterling and B. Flannery. 2007. Numerical recipes: The art of scientific computing (third ed.). Cambridge University Press Cambridge UK."},{"key":"e_1_2_2_51_1","first-page":"459","article-title":"Large elastic deformations of isotropic materials. I. Fundamental concepts. Philosophical Transactions of the Royal Society of London","volume":"240","author":"Rivlin Sl","year":"1948","unstructured":"RSl Rivlin. 1948. Large elastic deformations of isotropic materials. I. Fundamental concepts. Philosophical Transactions of the Royal Society of London. Series A, Mathematical and Physical Sciences 240, 822 (1948), 459--490.","journal-title":"Series A, Mathematical and Physical Sciences"},{"key":"e_1_2_2_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2982058"},{"key":"e_1_2_2_53_1","volume-title":"Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects. In 2020 IEEE International Conference on Robotics and Automation (ICRA). 10038--10044","author":"Sengupta Agniva","year":"2020","unstructured":"Agniva Sengupta, Romain Lagneau, Alexandre Krupa, Eric Marchand, and Maud Marchal. 2020. Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects. In 2020 IEEE International Conference on Robotics and Automation (ICRA). 10038--10044."},{"key":"e_1_2_2_54_1","volume-title":"Article 38","author":"Shtengel Anna","year":"2017","unstructured":"Anna Shtengel, Roi Poranne, Olga Sorkine-Hornung, Shahar Z. Kovalsky, and Yaron Lipman. 2017. Geometric Optimization via Composite Majorization. ACM Trans. on Graphics (SIGGRAPH 2017) 36, 4, Article 38 (2017), 11 pages."},{"key":"e_1_2_2_55_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2013.6548425"},{"key":"e_1_2_2_56_1","doi-asserted-by":"publisher","DOI":"10.1145\/2343483.2343501"},{"key":"e_1_2_2_57_1","doi-asserted-by":"publisher","DOI":"10.1145\/3180491"},{"key":"e_1_2_2_58_1","doi-asserted-by":"publisher","DOI":"10.1145\/3241041"},{"key":"e_1_2_2_59_1","volume-title":"Article 70","author":"Smith Jason","year":"2015","unstructured":"Jason Smith and Scott Schaefer. 2015. Bijective Parameterization with Free Boundaries. ACM Trans. on Graphics (SIGGRAPH 2015) 34, 4, Article 70 (2015), 9 pages."},{"key":"e_1_2_2_60_1","unstructured":"SmoothOn. 2020. SmoothOn Inc. www.smooth-on.com."},{"key":"e_1_2_2_61_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0305004100022702"},{"key":"e_1_2_2_62_1","doi-asserted-by":"crossref","unstructured":"Changkyu Song and Abdeslam Boularias. 2020. Learning to Slide Unknown Objects with Differentiable Physics Simulations. arXiv:2005.05456 [cs.RO]","DOI":"10.15607\/RSS.2020.XVI.099"},{"key":"e_1_2_2_63_1","volume-title":"Energetically Consistent Invertible Elasticity. In Symp. on Computer Animation (SCA). 25--32","author":"Stomakhin Alexey","unstructured":"Alexey Stomakhin, Russell Howes, Craig Schroeder, and Joseph M. Teran. 2012. Energetically Consistent Invertible Elasticity. In Symp. on Computer Animation (SCA). 25--32."},{"key":"e_1_2_2_64_1","doi-asserted-by":"publisher","DOI":"10.1002\/cnm.1105"},{"key":"e_1_2_2_65_1","volume-title":"Robust Quasistatic Finite Elements and Flesh Simulation. In Symp. on Computer Animation (SCA). 181--190","author":"Teran Joseph","year":"2005","unstructured":"Joseph Teran, Eftychios Sifakis, Geoffrey Irving, and Ronald Fedkiw. 2005. Robust Quasistatic Finite Elements and Flesh Simulation. In Symp. on Computer Animation (SCA). 181--190."},{"key":"e_1_2_2_66_1","doi-asserted-by":"publisher","DOI":"10.5254\/1.3546701"},{"key":"e_1_2_2_67_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.1710039"},{"key":"e_1_2_2_68_1","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(70)90055-2"},{"key":"e_1_2_2_69_1","doi-asserted-by":"crossref","unstructured":"Bin Wang Yuanmin Deng Paul Kry Uri Ascher Hui Huang and Baoquan Chen. 2020. Learning Elastic Constitutive Material and Damping Models. arXiv:1909.01875 [cs.GR]","DOI":"10.1111\/cgf.14128"},{"key":"e_1_2_2_70_1","volume-title":"Article 94","author":"Wang Bin","year":"2015","unstructured":"Bin Wang, Longhua Wu, KangKang Yin, Uri Ascher, Libin Liu, and Hui Huang. 2015. Deformation Capture and Modeling of Soft Objects. ACM Trans. on Graphics (SIGGRAPH 2015) 34, 4, Article 94 (2015), 12 pages."},{"key":"e_1_2_2_71_1","doi-asserted-by":"publisher","DOI":"10.1145\/1964921.1964966"},{"key":"e_1_2_2_72_1","first-page":"577","article-title":"Isotropic incompressible hyperelastic models for modelling the mechanical behaviour of biological tissues: a review","volume":"60","author":"Wex Cora","year":"2015","unstructured":"Cora Wex, Susann Arndt, Anke Stoll, Christiane Bruns, and Yuliya Kupriyanova. 2015. Isotropic incompressible hyperelastic models for modelling the mechanical behaviour of biological tissues: a review. Biomedical Engineering\/Biomedizinische Technik 60, 6 (2015), 577--592.","journal-title":"Biomedical Engineering\/Biomedizinische Technik"},{"key":"e_1_2_2_73_1","volume-title":"Computational contact mechanics","author":"Wriggers Peter","unstructured":"Peter Wriggers and Tod A Laursen. 2006. Computational contact mechanics. Vol. 2. Springer."},{"key":"e_1_2_2_74_1","doi-asserted-by":"publisher","DOI":"10.1145\/2766917"},{"key":"e_1_2_2_75_1","volume-title":"IEEE Int. Conf. on Computer Vision (ICCV). 4393--4403","author":"Yang Shan","unstructured":"Shan Yang, Junbang Liang, and Ming C. Lin. 2017. Learning-Based Cloth Material Recovery from Video. In IEEE Int. Conf. on Computer Vision (ICCV). 4393--4403."},{"key":"e_1_2_2_76_1","volume-title":"Characterization of elastic properties of carbon-black-filled rubber vulcanizates. Rubber chemistry and technology 63, 5","author":"Yeoh Oon H","year":"1990","unstructured":"Oon H Yeoh. 1990. Characterization of elastic properties of carbon-black-filled rubber vulcanizates. Rubber chemistry and technology 63, 5 (1990), 792--805."},{"key":"e_1_2_2_77_1","volume-title":"Some forms of the strain energy function for rubber. Rubber Chemistry and technology 66, 5","author":"Yeoh Oon H","year":"1993","unstructured":"Oon H Yeoh. 1993. Some forms of the strain energy function for rubber. Rubber Chemistry and technology 66, 5 (1993), 754--771."},{"key":"e_1_2_2_78_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2016.2571690"},{"key":"e_1_2_2_79_1","volume-title":"Effects of Physical Hardness on the Perception of Rendered Stiffness in an Encountered-Type Haptic Display","author":"Zamani Naghmeh","year":"2022","unstructured":"Naghmeh Zamani and Heather Culbertson. 2022. Effects of Physical Hardness on the Perception of Rendered Stiffness in an Encountered-Type Haptic Display. IEEE Transactions on Haptics (2022), 1--10."},{"key":"e_1_2_2_80_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1350-4533(97)00017-9"},{"key":"e_1_2_2_81_1","unstructured":"Yufeng Zhu. 2021. Eigen Space of Mesh Distortion Energy Hessian. (2021). arXiv:2103.08141 [cs.GR]"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3618406","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3618406","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3618406","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T10:46:46Z","timestamp":1755773206000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3618406"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,5]]},"references-count":81,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2023,12,5]]}},"alternative-id":["10.1145\/3618406"],"URL":"https:\/\/doi.org\/10.1145\/3618406","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,5]]},"assertion":[{"value":"2023-12-05","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}