John E. Lloyd

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We describe a system for constructing computer models of several aspects of physical interaction behavior, by scanning the response of real objects. The behaviors we can successfully scan and model include deformation response, contact textures for interaction with force-feedback, and contact sounds. The system we describe uses a highly automated robotic(More)
ArtiSynth ( is an open source, Java-based biomechanical simulation environment for modeling complex anatomical systems composed of both rigid and deformable structures. Models can be built from a rich set of components, including particles, rigid bodies, finite elements with both linear and nonlinear materials, point-to-point muscles, and(More)
Our understanding of human jaw biomechanics has been enhanced by computational modelling, but comparatively few studies have addressed the dynamics of chewing. Consequently, ambiguities remain regarding predicted jaw-gapes and forces on the mandibular condyles. Here, we used a new platform to simulate unilateral chewing. The model, based on a previous(More)
We describe our investigation of a fast 3D finite element method (FEM) for biomedical simulation of a muscle-activated human tongue. Our method uses a linear stiffness-warping scheme to achieve simulation speeds which are within a factor 10 of real-time rates at the expense of a small loss in accuracy. Muscle activations are produced by an arrangement of(More)
Computational modeling has improved our understanding of how muscle forces are coordinated to generate movement in musculoskeletal systems. Muscular-hydrostat systems, such as the human tongue, involve very different biomechanics than musculoskeletal systems, and modeling efforts to date have been limited by the high computational complexity of representing(More)
We present an integrated system in which an operator uses a simulated environment to program part-mating and contact tasks. Generation of models within this virtual environment is facilitated using a fast, occlusion-tolerant, 3D grey-scale vision system which can recognize and accurately locate objects within the work site. A major goal of this work is to(More)
Virtual haptic interaction with simulated deformable bodies requires contact forces to be computed with reasonable approximations in real time. This paper makes use of St. Venant’s principle on concentrated loads, and Castigliano’s theory on deflection to show that when an elastic body is globally deformed, the point-force representation of a tool contact(More)
We describe a methodology for virtual reality designers to capture and resynthesize the variations in sound made by objects when we interact with them through contact such as touch. The timbre of contact sounds can vary greatly, depending on both the listener’s location relative to the object, and the interaction point on the object itself. We believe that(More)
human mitochondrial DNA HVS-I region characterized this person as belonging to haplogroup B (GenBank accession no. EU359272), one of the founder human haplogroups in the Americas. The antiquity of human T. cruzi infection in South America has been demonstrated on the basis of paleonthologic studies. Clinical manifestations of Chagas disease were observed in(More)