Haptic rendering of rigid contacts using impulsive and penalty forces

TitleHaptic rendering of rigid contacts using impulsive and penalty forces
Publication TypeJournal Article
Year of Publication2005
AuthorsConstantinescu, D., S. E. Salcudean, and E. A. Croft
JournalRobotics, IEEE Transactions on
Pagination309 - 323
Date Publishedjun.
Keywordscontacts, digital simulation, friction forces, haptic interaction, haptic interfaces, haptic rendering, haptic simulation, impulsive forces, kinetic energy, multiple collision resolution method, multirigid body virtual environments, penalty forces, real-time simulation, rendering (computer graphics), telerobotics, virtual reality

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.


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