Noise-free haptic interaction with a bowed-string acoustic model

Force-feedback interaction with a bowed string model can suffer critically from noise in the velocity signal derived from differentiating position measurements. To address this problem, we present a model for bowed string interaction based on a position-constraint friction. We validate the proposed model by comparing to previous work using off-line simulations, and show measurements of interaction on haptic hardware. This noise-free excitation signal leads to cleaner string motion than previous models, thereby improving the quality of force and audio synthesis in the presence of noise.