162554 20251017144604.0 doi 10.1007/s10055-025-01199-w sideral 145115 ART-2025-145115 eng Hernández, Quercus A neural network architecture for physically-consistent haptic rendering 2025 Access copy available to the general public Unrestricted We develop a method for realistic haptic rendering of generalized solids that employs graph neural networks. In order to give these neural networks the required realism, biases of different types are used. In the case of solids with (hyper)elastic, hence reversible, behaviour, we use Hamiltonian neural networks. These networks employ a cognitive bias that ensures energy conservation during the simulation. In the case of dissipative solids (particularly visco-hyperelastic solids) we extend the cognitive bias so that it takes into account entropy production. In this way, regardless of the type of solid considered, the developed neural networks are able to provide the haptic devices with the necessary information for a realistic and, above all, physically consistent rendering. The results are tested using a set of haptic gloves and virtual reality glasses, which have shown excellent realism, but not without certain limitations due to the state of the art in the development of hardware of this type. info:eu-repo/grantAgreement/EUR/MICINN/TED2021- 130105B-I00 info:eu-repo/grantAgreement/ES/MTFP/TSI-100930-2023-1 info:eu-repo/grantAgreement/ES/UZ/ESI-ENSAM-Simulated Reality info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Lopes de Sousa Martins, Pedro (orcid)0000-0001-9732-4498 Tesan, Lucas Universidad de Zaragoza Alfaro, Icíar Universidad de Zaragoza (orcid)0000-0002-9135-866X González, David Universidad de Zaragoza (orcid)0000-0003-3003-5856 Chinesta, Francisco Cueto, Elías Universidad de Zaragoza (orcid)0000-0003-1017-4381 5004 605 Universidad de Zaragoza Dpto. Ingeniería Mecánica Área Mec.Med.Cont. y Teor.Est. 29 (2025), [14 pp.] VIRTUAL REALITY VIRTUAL REALITY 1359-4338 4070834 http://zaguan.unizar.es/record/162554/files/texto_completo.pdf Versión publicada 2091738 http://zaguan.unizar.es/record/162554/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:162554 articulos driver 2025-10-17-14:14:48 ARTICLE