A haptic display method is proposed for feeling virtual non-convex polyhedra without intersection through multiple contacts using a 6-DOF haptic interface. The method consists of two algorithms that are responsible for collision detection and preventing penetration respectively. The algorithm for collision detection is based on the oriented bounding boxes and the local minimum distance. The algorithm for preventing prevention is implemented as the simplex method in linear programming. Experiments are performed to show the advantage of this method.
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