Haptic Rendering Algorithm for Biomolecular Docking with Torque Force

Haptic devices enable the user to manipulate the molecules and feel interactions during the docking process in virtual environment on the computer. Implementation of torque feedback allows the user to have more realistic experience during force simulation and find the optimum docking positions faster. In this paper, we propose a haptic rendering algorithm for biomolecular docking with torque force. It enables the user to experience six degree-of-freedom (DOF) haptic manipulation in docking process. The linear smoothing method was proposed to improve stability of the haptic rendering during molecular docking.