Impulsive forces for haptic rendering of rigid contacts

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

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


This paper presents a haptic rendering method that enables users to feel collisions while they interact with a multi-rigid-body virtual environment through a virtual tool. The virtual tool can be a rigid object or a linkage. Linkage collisions are rendered by extending a collision resolution method proposed for single bodies to articulated structures using a configuration-space representation of dynamics. The configuration-space collision resolution scheme is incorporated into a local model of interaction and used to compute impulsive forces upon contact between the virtual tool and other virtual objects. A four channel teleoperation controller optimized for transparency is used to apply the provably passive impulsive forces to the user’s hand. Experiments with a planar rigid virtual world validate the passivity of the impulsive forces.
Original languageEnglish
Title of host publicationInternational Symposium on Robotics 2004
Number of pages7
Publication statusPublished - 2004
Externally publishedYes
EventInternational Symposium on Robotics 2004 - Paris-Nord Villepinte, France
Duration: 23 Mar 200426 Mar 2004
Conference number: 35th


ConferenceInternational Symposium on Robotics 2004
Abbreviated titleISR 2004
CityParis-Nord Villepinte

Cite this