{"id":"https://openalex.org/W1902027731","doi":"https://doi.org/10.2312/vriphys.20151336","title":"Accurate Contact Modeling for Multi-rate Single-point Haptic Rendering of Static and Deformable Environments","display_name":"Accurate Contact Modeling for Multi-rate Single-point Haptic Rendering of Static and Deformable Environments","publication_year":2015,"publication_date":"2015-01-01","ids":{"openalex":"https://openalex.org/W1902027731","doi":"https://doi.org/10.2312/vriphys.20151336","mag":"1902027731"},"language":"en","primary_location":{"id":"doi:10.2312/vriphys.20151336","is_oa":true,"landing_page_url":"https://doi.org/10.2312/vriphys.20151336","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.2312/vriphys.20151336","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027356191","display_name":"Thomas Knott","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Knott, Thomas C.","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5084069506","display_name":"Torsten Kuhlen","orcid":"https://orcid.org/0000-0003-2144-4367"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kuhlen, Torsten W.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027356191"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9587000012397766,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7610561847686768},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7482967972755432},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6888971924781799},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6321539878845215},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5824761986732483},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5021049976348877},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4898500144481659},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42695218324661255},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.41720911860466003},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3789774477481842},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3299647867679596},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.275809645652771},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10237884521484375}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7610561847686768},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7482967972755432},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6888971924781799},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6321539878845215},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5824761986732483},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5021049976348877},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4898500144481659},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42695218324661255},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.41720911860466003},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3789774477481842},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3299647867679596},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.275809645652771},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10237884521484375},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2312/vriphys.20151336","is_oa":true,"landing_page_url":"https://doi.org/10.2312/vriphys.20151336","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.2312/vriphys.20151336","is_oa":true,"landing_page_url":"https://doi.org/10.2312/vriphys.20151336","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W332749456","https://openalex.org/W635058499","https://openalex.org/W1514487078","https://openalex.org/W1520840400","https://openalex.org/W1531634634","https://openalex.org/W1966229965","https://openalex.org/W1976814406","https://openalex.org/W2002768843","https://openalex.org/W2007195244","https://openalex.org/W2073521456","https://openalex.org/W2112420768","https://openalex.org/W2119024373","https://openalex.org/W2124034026","https://openalex.org/W2144909146","https://openalex.org/W2152715074","https://openalex.org/W2157805404","https://openalex.org/W2158404524"],"related_works":["https://openalex.org/W2322516402","https://openalex.org/W2166461792","https://openalex.org/W2054158091","https://openalex.org/W2077134916","https://openalex.org/W2120375188","https://openalex.org/W1858882219","https://openalex.org/W2138117710","https://openalex.org/W1976814406","https://openalex.org/W2116012930","https://openalex.org/W29016520","https://openalex.org/W2152715074","https://openalex.org/W2086797553","https://openalex.org/W2129385492","https://openalex.org/W1997959223","https://openalex.org/W2048138159","https://openalex.org/W2078221124","https://openalex.org/W2142332741","https://openalex.org/W2111126121","https://openalex.org/W2105895116","https://openalex.org/W2133215676"],"abstract_inverted_index":{"Common":[0],"approaches":[1,195],"for":[2,100,123,161,187,196,200],"the":[3,14,18,46,55,59,65,73,77,92,146,150,162,168,188,197,212,216,219],"haptic":[4,47,56,221],"rendering":[5,57],"of":[6,20,36,94,104,149,170,190,218],"complex":[7,22],"scenarios":[8],"employ":[9],"multi-rate":[10],"simulation":[11,19,108,213],"schemes.":[12],"Here,":[13],"collision":[15],"queries":[16],"or":[17,193,203],"a":[21,30,86,101,116,156],"deformable":[23,191],"object":[24],"are":[25,98],"often":[26],"performed":[27],"asynchronously":[28],"on":[29,45],"lower":[31,78],"frequency,":[32],"while":[33],"some":[34],"kind":[35],"intermediate":[37,66,140],"contact":[38,60,88,95,113,129,142],"representation":[39,67],"is":[40,68],"used":[41],"to":[42,71,76,137,211],"simulate":[43],"interactions":[44],"rate.":[48,80],"However,":[49],"this":[50,83],"can":[51,181],"produce":[52],"artifacts":[53],"in":[54,223],"when":[58],"situation":[61],"quickly":[62],"changes":[63,74],"and":[64,106,120,215],"not":[69],"able":[70],"reflect":[72],"due":[75],"update":[79],"We":[81,205],"address":[82],"problem":[84],"utilizing":[85],"novel":[87],"model.":[89],"It":[90],"facilitates":[91],"creation":[93],"representations":[96],"that":[97],"accurate":[99,128],"large":[102],"range":[103],"motions":[105],"multiple":[107,224],"time-steps.We":[109],"handle":[110],"problematic":[111],"convex":[112,118,124],"regions":[114],"using":[115,173],"local":[117],"decomposition":[119],"special":[121],"constraints":[122],"areas.We":[125],"combine":[126],"our":[127,171],"model":[130],"with":[131,184,209],"an":[132,139],"implicit":[133],"temporal":[134],"integration":[135],"scheme":[136,160],"create":[138],"mechanical":[141],"representation,":[143],"which":[144],"reflects":[145],"dynamic":[147],"behavior":[148],"simulated":[151],"objects.":[152],"Moreover,":[153],"we":[154],"propose":[155],"new":[157],"iterative":[158],"solving":[159],"involved":[163],"constrained":[164],"dynamics":[165],"problems.We":[166],"increase":[167],"robustness":[169],"method":[172],"techniques":[174],"from":[175],"trust":[176],"region-based":[177],"optimization.":[178],"Our":[179],"approach":[180],"be":[182],"combined":[183],"standard":[185],"methods":[186],"modeling":[189,198],"objects":[192],"constraint-based":[194],"of,":[199],"instance,":[201],"friction":[202],"joints.":[204],"demonstrate":[206],"its":[207],"benefits":[208],"respect":[210],"accuracy":[214],"quality":[217],"rendered":[220],"forces":[222],"scenarios.":[225]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
