IEEE - Institute of Electrical and Electronics Engineers, Inc. - Haptic rendering of rigid contacts using impulsive and penalty forces

Author(s): D. Constantinescu ; S.E. Salcudean ; E.A. Croft
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2005
Volume: 21
Page(s): 309 - 323
ISSN (Paper): 1552-3098
ISSN (Online): 1941-0468
DOI: 10.1109/TRO.2004.840906
Regular:

A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes... View More

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