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    • Haptic Rendering of Cutting: A Fracture Mechanics Approach 

      Mahvash, Mohsen; Hayward, Vincent (Haptics-e, The electronic journal of haptics research, 2001-11-20)
      Cutting a deformable body may be viewed as an interchange between three forms of energy: the elastic energy stored in the deformed body, the work done by a sharp tool as it moves against it, and the irreversible work spent ...