A modeling of frictional contact for haptic display

This study develops a contact model which is indispensable for the force generation in the virtual environment. For development of the contact model, we adopt the proxy concept and the Karnopp friction model therefore with the developed contact model we can generate the friction force included reaction force. Also this study develops a 2 D.O.F. remote wiping system. This system is composed of a 2 D.O.F. master manipulator, a force sensor equipped 2 D.O.F. slave manipulator and a real time controller. With the developed remote wiping system, this study identifies the frictional characteristic of the aluminum and acryl plate. And we used it as the dynamic friction coefficient of the developed contact model. This study shows the efficiency of the developed contact model by comparing a) the frictional characteristic of the haptic display simulation with the developed contact model with b) the frictional characteristic of the real aluminum and acryl plate.