In this paper, we investigate the use of heightmap-based models to predict deformations in granular materials during teleoperation tasks. Our primary objective is to provide real-time cutting feedback and contact predictions for haptic bilateral teleoperation applications, thereby enhancing operator control in remote manipulation scenarios. We developed a simulation model that utilizes heightmaps to represent deformable materials and implemented a cutting algorithm to simulate complex interactions with granular soils.

Through a series of experiments, we demonstrated that higher resolution heightmaps significantly improve the accuracy and stability of cutting feedback. Our findings suggest that this approach is a viable method for keeping track of changes in a deformable object's shape and can be further expanded to include a wider range of teleoperation tasks, potentially improving the safety and effectiveness of remote operations in hazardous environments.