Impulse-based dynamic simulation
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Dynamic Local Models for Stable Multi-Contact Haptic Interaction with Deformable Objects
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Virtual cooperating manipulators as a virtual reality haptic interface
HICS '96 Proceedings of the 3rd Symposium on Human Interaction with Complex Systems (HICS '96)
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
An Augmented-Reality Interface for Telerobotic Applications
WACV '02 Proceedings of the Sixth IEEE Workshop on Applications of Computer Vision
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Haptic Rendering: Introductory Concepts
IEEE Computer Graphics and Applications
Haptic rendering of rigid body collisions
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Motion control of impedance-type haptic devices
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Haptic simulations aim to create an immersive, interactive computer generated environment, using haptic devices to render forces to the user based on interactions in the virtual world. In many applications, these simulations must be capable of handling interactions between multiple users, multiple hands, and complex virtual tools. In particular, consider the example of simulating two-handed robotic surgery, where each hand independently directs its own surgical robot to manipulate a tool. Traditionally only quasi-static, point-like proxies are used to represent the human in virtual environments. In previous works, we proposed dynamic proxies to improve upon this notion. Giving the proxy first order, velocity based dynamics makes it massless but capable of producing crisp dynamic interaction forces. With this paper, we generalize the proxy concept to the case of independent, multiple degree-of-freedom virtual manipulators, by giving the proxy not only first-order dynamics, but its own kinematic properties as well. Like real robots, the virtual manipulators' tips track the user and master motion while generating force feedback. Interactions between the virtual arms and with other objects are implemented as geometric constraints on the tip velocities, and solved in a linearly constrained least-squares minimization. A stability proof is given in terms of passivity. The approach is demonstrated on an actual two-handed haptic console, running a real-time simulation of a pair of six degree-of-freedom virtual manipulators with cylindrical links.