Proceedings. First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference
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Abstract

In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linearization of contact and manipulation forces, and it provides higher stability and responsiveness than previous methods. The linearization of contact forces, coupled with fast, perceptually based collision detection algorithms, enables us to perform highly stable and responsive 6-degree-of-freedom haptic rendering of complex polygonal models.
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