By Topic

Signorini's contact model for deformable objects in haptic simulations

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)

In this paper we consider deformable objects in haptic simulations. The physical simulation that drives haptic perception requires a good dynamic behavior. The inputs of the deformable model come from the treatment of the collision. We propose to focus on the contact restitution between deformable objects to guarantee "physical and perceptual realisms" of the haptic feedback. Signorini, in 1933, proposed a physical model of contact for deformable objects interacting with rigid static bodies (Signorini, S, 1933). This paper shows that the Signorini's model extents to contacts between two deformable objects using Gauss-Seidel resolution of complementarity problems. An interactive resolution of the overall formulation is presented and experienced on deformable objects using the finite linear-elements method.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

28 Sept.-2 Oct. 2004