Haptic rendering of rigid body collisions

Daniela Constantinescu, Septimiu E. Salcudean, Elizabeth A. Croft

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

11 Citations (Scopus)

Abstract

This paper addresses the haptic rendering of rigid body collisions. A new method is proposed in which collision rendering is achieved in two steps. First, the haptic simulation uses a contact model whose stiffness is infinite during collisions and finite during sustained contact. This model is combined with a passive collision resolution scheme to compute collision impulses when new contacts arise. Second, the impulses are applied to the user's hand by a controller that coordinates forces and positions between the virtual environment and the haptic interface. Haptic rendering of rigid body collisions imparts forces that generate large hand accelerations when new contacts arise without requiring increased contact stiffness and damping. Experiments with a planar rigid virtual world validate the proposed approach.

Original languageEnglish
Title of host publicationProceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2004
Pages2-8
Number of pages7
DOIs
Publication statusPublished - 28 Jun 2004
Externally publishedYes
EventInternational Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2004 - Chicago, IL, United States of America
Duration: 27 Mar 200428 Mar 2004
Conference number: 12th

Conference

ConferenceInternational Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2004
Abbreviated titleHAPTICS 2004
CountryUnited States of America
CityChicago, IL
Period27/03/0428/03/04

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