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We present a hybrid framework for physics-based simulation of fracture and debris clouds. Previous methods mainly consider bulk fractures. However, in many situations, small fractured pieces and debris are visually important. Our framework takes a hybrid approach that integrates both tetrahedron-based finite element and particle-based meshfree methods. The(More)
Abslract-We present a set of recent results on the control of movements in which the hand interacts with force fields that simulate the presence of dynamical objects and of surface boundaries. These experiments exploit the possibility of using humanlrobot interactions for exploring if and how the smoothness is enforced by the adaptive control system. We(More)
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