This paper models the effects of different contact formations and compliant motion on haptic rendering, taking into account friction and gravity. When a held rigid object interacts with another rigid object (in a task such as assembly), the force and moment felt by the operator at any instant depend not only on the contact region but also on the type of the contact state and the type of motion ...

In this paper we demonstrate the limitations of common rigid-body contact models used in the robotics community by comparing them to a collection of data-driven and data-reinforced models that exploit underlying structure inspired by the rigid contact paradigm. We evaluate and compare the analytical and data-driven contact models on an empirical planar impact data-set, and show that the learned...

Certain problems in which a cooled rigid punch indents an elastic half-space have no steady state solution. A simple model is described in which it is shown that this paradox is avoided by the assumption of a thermal resistance varying inversely with contact pressure. A limiting case of this system retains linearity and introduces a state of "imperfect" contact in which contact pressure is negl...

This paper describes a physically-based simulation for grasping tasks in an interactive environment. Fingertips and interacting objects are based on quasi-rigid models. The quasi-rigid model combines a rigid model for dynamic simulation and a deformable model for resolving local contact with friction and surface deformation. We simulate deformation by adding compliance on control points in the ...

A finite element model is developed to study the transient thermo-mechanical contact between a rigid sphere and an elastic–plastic sphere. Interference and tangential displacement are applied to the rigid sphere while the elastic–plastic sphere is stationary. The radius of the rigid sphere is larger than that of the elastic–plastic sphere to model flattening. Universal solutions are obtained fo...