Contact tracking in configuration space for haptic rendering purposes

This paper introduces an efficient contact tracking procedure for the haptic rendering of contacts produced between simple convex polyhedral objects. The approach followed is based on the task configuration space and uses spatial and temporal coherence in order to be able to comply to the hard temporal constraints of the haptic servo loops. The use of the configuration space facilitates the knowledge of the type of contacts that take place between objects, allowing a better haptic rendering when face-face or edge-face contacts occur