Real Time Simulation of Stiff Dynamic Systems via Distributed Memory Parallel Processors

The context of this paper is the design of a kinesthetic interface to virtual environments. Several kinesthetic interfaces have previously been developed. Minsky[ 15lhas developed a device for creating “virtual sandpaper”. A powered joystick interfaced to a real-time computer simulation allows the user to “feel” textured surfaces. The simulation implements textures as a mapping from joystick position to actuator torque commands essentially a two-dimensional force field. Researchers at UNC[ 171 have also developed a six degree-of-freedom device for simulating inter-molecular forces. Adelstein[2] has experimented with a two degree of freedom programmable joystick for studying human arm tremor.