Proposal of Haptic Display Method with no Intersection between Objects

Abstract

We propose the haptic display method with no intersection using 6-DOF haptic device. The method involves two algorizum, collision detection and preventing penetration. The collision detection using geometric intersection and the local minimum distance is respond multi contacts and non convex polygons. The preventing penetration is implement using simplex method in linear programing. We can feel haptics without interference between virtual objects. In the experiments, we confirm the advantage of the method.