filename : p_Ota07a.pdf entry : article conference : WHC 2007, Tsukuba, Japan, 22-24 March, 2007 pages : 225-230 year : 2007 month : March title : Transparent Rendering of Tool Contact with Compliant Environments subtitle : author : Miguel A. Otaduy and Markus Gross booktitle : Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems ISSN/ISBN : editor : publisher : IEEE Computer Society publ.place : volume : issue : language : English keywords : abstract : Transparent haptic rendering of the contact between a tool and its environment requires very frequent update of the contact forces acting on the tool. Given a rigid tool and a deformable environment, we define contact constraints by solving a constrained dynamic simulation problem, typically at a low update rate. A generalized contact Jacobian defines velocities at the constraints given the velocity of the rigid tool. We define an inverse of the contact Jacobian that is dynamically consistent with the constraints and, once we know other forces acting on the rigid tool, it allows a fast update of the accumulated contact forces, and thereby highly transparent rendering.