Abstract
A technique is presented for providing users with realistic haptic feedback as they interact with virtual rigid objects. The technique imposes no restrictions on the algorithms used to simulate the virtual environment. The force control loop is decoupled from the simulation by employing a local model of the interaction updated periodically by the virtual environment. This local model includes a proxy of the virtual object manipulated by the user and a geometric description of the motion constraints imposed on the proxy by neighboring objects. Two schemes are employed to coordinate the proxy and the haptic device. A planar haptic interaction system, including a rigid mass that can be translated and rotated in the presence of constraints, is used to evaluate the performance of the proposed technique.
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