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Hardware-based parallel computing for real-time haptic rendering of deformable objects

In this work, a new hardware-based parallel implementation of the iterative conjugate gradient (CG) algorithm for solving such systems of equations is proposed. Fixed point computations are employed to optimize hardware resource usage and to increase parallelism. The proposed implementation adaptively adjusts to variations in the dynamic range of data operands in order to enhance computation accuracy and avoid divergence due to overflow and quantization errors.