Physically accurate haptic rendering with dynamic effects

We focus on the realism/transparency aspect of haptic rendering. We introduce a novel approach that enables physically correct and accurate simulation of contact wrench W/sub c/ for general rigid objects in real time, taking into account not only friction and gravity but also dynamic effects. Our method for contact force and moment simulation builds on the real-time identification of geometrically valid contact states despite digital errors. Our approach applies to general rigid bodies including both polyhedral and nonpolyhedral objects. For nonpolyhedral, curved objects, we build our contact state representation and contact force/moment model directly on the smooth and accurate representation of the object surfaces. Our approach's key idea is to solve for the contact force and moment analytically based on not only the contact configuration, but also the real-time identification of the exact type of the corresponding contact state, the type of instantaneous motion of the held object prior to reaching the contact configuration.