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World Haptics Conference (2007)
Tsukuba, Japan
Mar. 22, 2007 to Mar. 24, 2007
ISBN: 0-7695-2738-8
pp: 225-230
Miguel A. Otaduy , Computer Graphics Laboratory, ETH Zurich
Markus Gross , Computer Graphics Laboratory, ETH Zurich
Transparent haptic rendering of the contact between a tool and its environment requires very frequent update of the contact forces acting on the tool. Given a rigid tool and a deformable environment, we define contact constraints by solving a constrained dynamic simulation problem, typ- ically at a low update rate. A generalized contact Jaco- bian defines velocities at the constraints given the velocity of the rigid tool. We define an inverse of the contact Jaco- bian that is dynamically consistent with the constraints and, once we know other forces acting on the rigid tool, it allows a fast update of the accumulated contact forces, and thereby highly transparent rendering.

M. A. Otaduy and M. Gross, "Transparent Rendering of Tool Contact with Compliant Environments," 2007 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems(WHC), Tsukaba, 2007, pp. 225-230.
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