Impulsive forces for haptic rendering of rigid contacts

  title={Impulsive forces for haptic rendering of rigid contacts},
  author={Daniela Constantinescu and Septimiu E. Salcudean and Elizabeth A. Croft}
This paper presents a haptic rendering method that enables users to feel collisions while they interact with a multi-rigid-body virtual environment through a virtual tool. The virtual tool can be a rigid object or a linkage. Linkage collisions are rendered by extending a collision resolution method proposed for single bodies to articulated structures using a configuration-space representation of dynamics. The configuration-space collision resolution scheme is incorporated into a local model of… CONTINUE READING
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