Abstract
In this paper, a haptic rendering system is proposed to touch deformable objects, for example organ models in a surgical simulator. This system is composed of three processes, prediction of the forceps position based on chaos theory, interpolation and smoothing of force from an organ model. It solves a problem to be caused by in time to calculate deformation and stress of the deformable model by including these three processes in multi-rate system. The validity of the system was confirmed by simulation experiments using haptic device.
