Haptic rendering method based on generalized penetration depth computation
We studied the 6-DoF haptic rendering method by using generalized penetration depth computation. We use a filter method to reduce the instability problem in the haptic rendering. We use the direction control method to make the force feedback the same as in the physical world. The method is simple and effective. It can increase the stability of the haptic system.
haptic rendering generalized penetration depth 6-dof optimization