Haptic feedback using local models of interaction

A local model of interaction proposed for haptic render-ing of rigid body motion is extended to the rigid body ma-nipulation of articulated structures. In the proposed local model, the motion constraints imposed on the user by the ar-ticulated structure are rendered through the local dynamics, while those imposed by other virtual objects are rendered through impulsive, penalty, and friction contact forces. The proposed local model is used to interface a planar haptic device to a virtual world comprised of both rigid objects and articulated structures moving within an enclosure of rigid walls. 1