Multi-rate multi-range dynamic simulation for haptic interaction

In this paper, we propose a technique for a high quality haptic display working with a low update rate rigid body dynamics simulator. The proposed method uses two dynamics simulators. One has a low update rate for the whole virtual world and the other has a high update rate for the neighboring objects of the haptic pointer. In addition, the method calculates accelerance matrices of neighboring objects with regard to the contact forces added to these objects. We carried out a simulation and an experiment to check the effectiveness of the proposed method.