Abstract: When interacting with a virtual object (VO) through a haptic device, it is crucial to feedback a contact force to the human operator (HO) that displays the VO physical properties with high fidelity. The core challenge, ...

Abstract: Many techniques have been developed for analyzing and evaluating mechanical systems for the purpose of improving design and control, such as the operational space formulation. It has been been shown to be a useful tool ...

Abstract: When digitally realized, virtual environments (VEs) do not perfectly match the physical environments they are supposed to emulate. This paper deals with energy aspects of such a mismatch, i.e., artificial energy leaks. A ...

Abstract: Index3 augmented Lagrangian formulations with projections of velocities and accelerations represent an efficient and robust method to carry out the forwarddynamics simulation of multibody systems modeled in dependent ...