Passivity-based high-fidelity haptic rendering of contact

@article{Mahvash2003PassivitybasedHH,
  title={Passivity-based high-fidelity haptic rendering of contact},
  author={Mohsen Mahvash and Vincent Hayward},
  journal={2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)},
  year={2003},
  volume={3},
  pages={3722-3728 vol.3}
}
A method is described whereby the virtual haptic interaction with deformable elastic objects is created in terms of two processes: a slow process which carries on the simulation, and a fast process to render forces. Passivity theory is used to design an update strategy which reproduces exactly pre-computed responses between a tool and an object. This yields a design procedure for adjustable local models which guarantee the passivity of the interaction while preserving fidelity. Two examples of… CONTINUE READING

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