Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds
International Journal of Robotics Research
Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
International Journal of Robotics Research
Optimization of a 6-DOF parallel robotic manipulator based on kinematic performance indexes
MIC '07 Proceedings of the 26th IASTED International Conference on Modelling, Identification, and Control
Haptic display of realistic tool contact via dynamically compensated control of a dedicated actuator
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Hi-index | 0.00 |
A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.