Haptic rendering of rigid contacts using impulsive and penalty forces
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 impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are deri...
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| Veröffentlicht in: | IEEE transactions on robotics 2005-06, Vol.21 (3), p.309-323 |
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| container_end_page | 323 |
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| container_title | IEEE transactions on robotics |
| container_volume | 21 |
| creator | Constantinescu, D. Salcudean, S.E. Croft, E.A. |
| description | 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 impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach. |
| doi_str_mv | 10.1109/TRO.2004.840906 |
| format | Article |
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The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.</description><identifier>ISSN: 1552-3098</identifier><identifier>EISSN: 1941-0468</identifier><identifier>DOI: 10.1109/TRO.2004.840906</identifier><identifier>CODEN: ITREAE</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Acceleration ; Applied sciences ; Computational modeling ; Couplings ; Damping ; Drives ; Energy resolution ; Exact sciences and technology ; Friction ; Haptic interfaces ; Haptic rendering ; haptic simulation ; Kinetic energy ; Linkage mechanisms, cams ; Mechanical engineering. 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The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.</description><subject>Acceleration</subject><subject>Applied sciences</subject><subject>Computational modeling</subject><subject>Couplings</subject><subject>Damping</subject><subject>Drives</subject><subject>Energy resolution</subject><subject>Exact sciences and technology</subject><subject>Friction</subject><subject>Haptic interfaces</subject><subject>Haptic rendering</subject><subject>haptic simulation</subject><subject>Kinetic energy</subject><subject>Linkage mechanisms, cams</subject><subject>Mechanical engineering. Machine design</subject><subject>passive collision resolution</subject><subject>real-time simulation</subject><subject>Robots</subject><subject>Simulation</subject><subject>simultaneous collisions</subject><subject>Stability</subject><subject>Virtual environment</subject><subject>Virtual reality</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2005</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqNkM1Lw0AQxYMoWKtnD16CoLe0s9nNfhylVCsUClLPYbuZLVvSJO4mQv97EyIUPHmaYeb3HjMviu4JzAgBNd9-bGYpAJtJBgr4RTQhipEEGJeXfZ9laUJByevoJoQDQMoU0Em0XOmmdSb2WBXoXbWPaxt7t3dFbOqq1aYNcReGuTs2XRncN8a6KuIGK122p9jW3mC4ja6sLgPe_dZp9Pm63C5WyXrz9r54WSeGSmgTgwQJEKCUMK45E0pQhgUwVMpaTXaG2GxndKqZVNRaZUFIVQhq6Q451XQaPY--ja-_OgxtfnTBYFnqCusu5KmUSglJ_wECcMpVDz7-AQ915_vfegYIh4yztIfmI2R8HYJHmzfeHbU_5QTyIfy8Dz8fws_H8HvF06-tDkaX1uvKuHCWcSmEFMOdDyPnEPG8ZjRjgtMfIEGMPA</recordid><startdate>20050601</startdate><enddate>20050601</enddate><creator>Constantinescu, D.</creator><creator>Salcudean, S.E.</creator><creator>Croft, E.A.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Machine design</topic><topic>passive collision resolution</topic><topic>real-time simulation</topic><topic>Robots</topic><topic>Simulation</topic><topic>simultaneous collisions</topic><topic>Stability</topic><topic>Virtual environment</topic><topic>Virtual reality</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Constantinescu, D.</creatorcontrib><creatorcontrib>Salcudean, S.E.</creatorcontrib><creatorcontrib>Croft, E.A.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Aerospace Database</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Constantinescu, D.</au><au>Salcudean, S.E.</au><au>Croft, E.A.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Haptic rendering of rigid contacts using impulsive and penalty forces</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2005-06-01</date><risdate>2005</risdate><volume>21</volume><issue>3</issue><spage>309</spage><epage>323</epage><pages>309-323</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>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 impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2004.840906</doi><tpages>15</tpages></addata></record> |
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| identifier | ISSN: 1552-3098 |
| ispartof | IEEE transactions on robotics, 2005-06, Vol.21 (3), p.309-323 |
| issn | 1552-3098 1941-0468 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Acceleration Applied sciences Computational modeling Couplings Damping Drives Energy resolution Exact sciences and technology Friction Haptic interfaces Haptic rendering haptic simulation Kinetic energy Linkage mechanisms, cams Mechanical engineering. Machine design passive collision resolution real-time simulation Robots Simulation simultaneous collisions Stability Virtual environment Virtual reality |
| title | Haptic rendering of rigid contacts using impulsive and penalty forces |
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