filename     : p_Ota07a.pdf
entry        : article
conference   : WHC 2007, Tsukuba, Japan, 22-24 March, 2007
pages        : 225-230 
year         : 2007
month        : March
title        : Transparent Rendering of Tool Contact with Compliant Environments
subtitle     : 
author       : Miguel A. Otaduy and Markus Gross
booktitle    : Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
ISSN/ISBN    : 
editor       : 
publisher    : IEEE Computer Society
publ.place   : 
volume       :
issue        :
language     : English
keywords     : 
abstract     : 
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, typically at a low update rate.
A generalized contact Jacobian defines velocities at the constraints
given the velocity of the rigid tool.
We define an inverse of the contact Jacobian 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.