Haptic rendering of rigid contacts using impulsive and penalty forces

  title={Haptic rendering of rigid contacts using impulsive and penalty forces},
  author={Daniela Constantinescu and Septimiu E. Salcudean and Elizabeth A. Croft},
  journal={IEEE Transactions on Robotics},
A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without… CONTINUE READING
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