Adaptive 6-DoF Haptic Contact Stiffness Using the Gauss Map

@article{Xu2016Adaptive6H,
  title={Adaptive 6-DoF Haptic Contact Stiffness Using the Gauss Map},
  author={Hongyi Xu and Jernej Barbic},
  journal={IEEE Transactions on Haptics},
  year={2016},
  volume={9},
  pages={323-332}
}
The penalty method is a popular approach to resolving contact in haptic rendering. In simulations involving complex distributed contact, there are, however, many simultaneous individual contacts. These contacts have normals pointing in several directions, many of which may be parallel, causing the stiffness to effectively accumulate in a temporally highly-varying and unpredictable way. Consequently, penalty-based simulation suffers from stability problems. Previous methods tackled this problem… CONTINUE READING

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