Haptic Rendering of Tool Contact

  title={Haptic Rendering of Tool Contact},
  author={M. Mahvash and Vincent Hayward and John Lloyd},
Virtual haptic interaction with simulated deformable bodiesrequirescontactforcesto becomputedwith reasonable approximationsin real time. This paper makes use of St. Venant’s principle on concentrated loads,and Castigliano’s theoryon deflectionto showthat whenan elastic body is globally deformed,the point-force representation of a tool contactis a goodapproximation. However, whenthedeformationof thebodyis localizedin a smallregion, the contactforcescritically dependon the shapeof the tool… CONTINUE READING