Operations such as object manipulation and palpation rely on the fine perception of contact
forces, both in time and space. Haptic simulation of grasping, with the rendering of contact …

We propose a novel framework of haptic rendering and interactive simulation, which, by
exploiting midpoint time integration, that is known for its superior energy-conserving property …

There are two main challenges in simulating bi-manual dental operations with six-degrees-
of-freedom (6-DoF) haptic rendering. One is to simulate large deformation and force …

Simulation involving interaction with deformable objects often causes stability problems
because a slowly updated force generates additional energy to the human user. This paper …

Most haptic systems suffer from what is known as the “tunneling” problem, which arises
when a virtual object moves or deforms largely towards a small virtual tool. This problem …

This article presents a new data-driven model design for rendering force responses from
elastic tool deformation. The new design incorporates a six-dimensional input describing the …

Real-time simulation is a valuable tool in the design and test of vehicles and vehicle parts,
mainly when interfacing with hardware modules working at a given rate, as in hardware-in …

Realistic haptic feedback is a key for virtual reality applications in order to transition from
solely procedural training to motor-skill training. Currently, haptic feedback is mostly used in …

This paper concerns mainly numerical aspects for the real-time manipulation of deformable
objects in the context of virtual surgery. The bi-potential method in the form of augmented …

Physical simulation is a valuable tool in many fields of engineering for the tasks of design,
prototyping, and testing. General‐purpose operating systems (GPOS) are designed for real …