Considerations for Robust Haptic Interaction with Virtual Dynamic Systems
Challenges
which stem
from this vision
Framework
for
addressing challenges
Experimental results
J.
Michael Brown, MS Thesis
Implications for haptic display design
High frequency damping: the key to dynamic range
Key advantage of cobots: dynamic range
From virtual walls to complex simulations: the virtual coupling concept
Virtual coupling: significance
But it doesn’t work in practice!
An improved framework: energy management
Brian Miller’s work
Energy management in the transformed system
A case study: impulse-based simulation of rigid body
systems
Beeling Chang and Brian Miller
The key problems with hard real-time impulse-based simulation
A strategy that seems to work…
A closer look at contact state determination
A closer look at contact state determination (2)