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Haptic feedback using local models of interaction

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3 Author(s)
Constantinescu, D. ; Dept. of Electr. & Comput. Eng., British Columbia Univ., Canada ; Salcudean, S.E. ; Croft, E.A.

A local model of interaction proposed for haptic rendering of rigid body motion is extended to the rigid body manipulation of articulated structures. In the proposed local model, the motion constraints imposed on the user by the articulated structure are rendered through the local dynamics, while those imposed by other virtual objects are rendered through impulsive, penalty, and friction contact forces. The proposed local model is used to interface a planar haptic device to a virtual world comprised of both rigid objects and articulated structures moving within an enclosure of rigid walls.

Published in:

Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. 11th Symposium on

Date of Conference:

22-23 March 2003