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Haptic rendering provides users with the senses of touch during their interacting with the simulated objects in virtual environment. The maximum achievable object stiffness is critical for realistic haptic rendering of rigid objects, and is constrained by several inevitable ”non-idealities” in the haptic system as well as the behavior of the human operator, i.e. the mechanical impedance of human arm...
Rendering rigid virtual objects remains a challenging problem in the field of haptics. The "nonidealities" due to time discretization and position quantization are the main factors that constrain the maximum achievable stiffness for the virtual objects. While the former can be addressed with many methods, the latter becomes a critical problem. New simulation methods, smoothing the output...
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