Geometrically Limited Constraints for Physics-Based Haptic Rendering

  • Thomas KnottEmail author
  • Torsten Kuhlen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)


In this paper a single-point haptic rendering technique is proposed which uses a constraint-based physics simulation approach. Geometries are sampled using point shell points, each associated with a small disk, that jointly result in a closed surface for the whole shell. The geometric information is incorporated into the constraint-based simulation using newly introduced geometrically limited contact constraints which are active in a restricted region corresponding to the disks in contact. The usage of disk constraints not only creates closed surfaces, which is important for single-point rendering, but also tackles the problem of over-constraint contact situations in convex geometric setups. Furthermore, an iterative solving scheme for dynamic problems under consideration of the proposed constraint type is proposed. Finally, an evaluation of the simulation approach shows the advantages compared to standard contact constraints regarding the quality of the rendered forces.


Contact Force Configuration Space Collision Detection Haptic Device Tangential Function 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This work received funding from the European Unions Seventh Framework Pro- gramme for research, technological development and demonstration under grant agreement no 610425.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.Virtual Reality Group - RWTH Aachen UniversityAachenGermany

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