Haptic modeling based on contact and motion types

When a held object interacts with another object (in a task such as assembly), the haptic 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 of the held object prior to reaching the current contact configuration, especially in the presence of friction and gravity. In this paper, we address the influence of contact state and motion types on haptic force and moment and present an efficient method to model such haptic effects resulted from the interaction of two convex polyhedral solids, taking into account friction and gravity.