Haptic rendering of rigid contacts using impulsive and penalty forces

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

Research output: Contribution to journalArticleResearchpeer-review

74 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)309-323
Number of pages15
JournalIEEE Transactions on Robotics
Issue number3
Publication statusPublished - 1 Jun 2005
Externally publishedYes


  • Haptic rendering
  • Haptic simulation
  • Passive collision resolution
  • Real-time simulation
  • Simultaneous collisions

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