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• W2170751489 abstract "A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach." @default.
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• W2170751489 date "2005-06-01" @default.
• W2170751489 modified "2023-10-16" @default.
• W2170751489 title "Haptic rendering of rigid contacts using impulsive and penalty forces" @default.
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• W2170751489 doi "https://doi.org/10.1109/tro.2004.840906" @default.
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