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: 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: In many haptic applications, producing a sharp feeling of impact is crucial for high-fidelity force feedback rendering of virtual objects (VOs). Although suitable for rendering collision-rich haptic interactions, impulse-based ...