This paper addresses the haptic rendering of rigid body collisions. A new method is proposed in which collision rendering is achieved in two steps. First, the haptic simulation uses a contact model whose stiffness is infinite during collisions and ...
This paper considers moments due to friction forces on the human fingertip. A computational technique called the friction moment arc method is presented. The method computes the static and/or dynamic friction moment independent of a friction force ...
We present an optimization analysis method for virtual stiffness in 6-DoFs haptic rendering system. The method is based on the locally optimized generalized penetration computation algorithm which computes the minimum translational and rotational motion ...
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