Haptic rendering of contact between rigid and deformable objects based on penalty method with implicit time integration

@article{Sase2016HapticRO,
  title={Haptic rendering of contact between rigid and deformable objects based on penalty method with implicit time integration},
  author={Kazuya Sase and Teppei Tsujita and Atsushi Konno},
  journal={2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2016},
  pages={1594-1600}
}
The handling of contacts between virtual objects is a fundamental problem of 6 DOF haptic rendering in virtual environments. Especially, the haptic rendering of the contact between rigid and deformable objects is challenging because the physics simulation with high computational burden must be calculated in real time with good stability. In this paper, we introduce a fast and stable contact handling method that can be used for 6 DOF haptic rendering. The two-way contact response is formulated… CONTINUE READING

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