There is ample research on the effect of haptic teleoperation under delayed communication channels in terms of stability and system performance. Little attention, however, has been paid to the effect of delayed force feedback on users’ task performance and whether force feedback is beneficial under significant communication delays. This paper investigates whether force feedback improves user’s ...

This paper presents a mixed variational framework and numerical examples to treat a bidimensional friction contact problem in large deformation. Two different contact algorithms with friction are developed using the 2D finite element code PLAST2. The first contact algorithm is the classical node-on-segment, and the second one corresponds to an extension of the mortar element method to a unilate...

Contact phenomena among deformable bodies abound in industry and everyday life, and play an important role in structural and mechanical systems. The complicated surface structure, physics and chemistry involved in contact processes make it necessary to model them with highly complex and nonlinear initial-boundary value problems. Indeed, the now famous Signorini problem was formulated as an idea...