A framework for Soft-tissue Deformation

For the simulation of soft tissue deformation Finite Element Method (FEM) has been the technique which achieves most phys- ically realistic behaviour. However to provide stable force feed- back, high refresh rates are needed which makes the use of FEM non-trivial. To solve the challenge of the compromise between speed and real- ism, asynchronous regions which solves different parts of the model with different frequencies and different resolutions are used. The local neighbourhood of the contact is solved with higher frequency and resolution while the more remote regions are solved with lower frequency and resolutions. Different solution methods, implicit and explicit, can be used to solve different regions and the size of the regions can be adapted depending on the strain to maximize the efficiency.