More physics-based haptic display of frictional virtual surface

This paper discusses `the physical Karnopp model' and `the modified Karnopp model' that were proposed for dynamic simulation, friction compensation, and haptic rendering of surface friction, and shows that when these models are used for haptic display of virtual surface friction, the transparency can be deteriorated. Also, to remedy this problem, we propose a `more physically oriented Karnopp model', which adds the Coulomb friction term in the slip state and removes the viscous friction term in the stick state. Moreover, the energy-bounding algorithm (EBA) is used for stable haptic display of the surface friction. Through experiments, the effectiveness of the proposed friction model and the EBA is shown.