ABSTRACT
The development of real-time simulations has led to the haptic rendering of more precise and complex phenomena. For example, the rendering of deformable objects began by using naive deformable models and very simple contact forces for deriving the device feedback. Contact forces computation was based on the geometrical criterion of interpenetration, using the penalty-based methods. The result was a relatively poor quality of haptic rendering. While more precise modeling techniques have improved deformable models, the computation of contact forces using physically based contact and friction laws has also contributed to their improvement.
