Configuration-space data-driven haptic rendering for multi-link multi-contact haptic interaction

We propose a configuration-space (C-space) based data-driven haptic rendering framework, which, by relying on the dynamics/kinematics formulation in the C-space, enables us to naturally address the haptic interaction of multi-link virtual proxy with visco-elastic type deformable virtual objects, while also allowing for quick rendering of multi-point contact between the virtual proxy and the virtual objects. We elucidate the procedure of this C-space data-driven haptic rendering for the virtual objects and also extend it to real objects. Experiment is also performed to illustrate efficacy of the proposed framework.