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Physics-based Approach to Haptic Display

by J. Michael Brown and J. Edward Colgate

Proceedings of the 1994 International Symposium on Measurement and Control in Robotics, Topical Workshop on Virtual Reality, Houston, TX, pp. 101-106

© 1994 IMC. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale, or to reuse any copyrighted component of this work in other works must be obtained from the International Measurement Confederation.

Abstract:

This paper addresses the implementation of complex multiple degree of freedom virtual environments for haptic display. We suggest that a physics-based approach to rigid body simulation is appropriate for hand tool simulation, but that currently available simulation techniques are not sufficient to guarantee successful implementation. We discuss the desirable features of a VE simulation, specifically highlighting the importance of stability guarantees.

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