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A polygonal method for haptic force generation

Anderson, T.

Algorithms for computing forces and associated surface deformations (graphical and physical) are given, which, together with a force feedback device can be used to haptically display virtual objects. The Bendable Polygon algorithm, created at Sandia National Labs and the University of New Mexico, for visual rendering of computer generated surfaces is also presented. An implementation using the EIGEN virtual reality environment, and the PHANToM (Trademark) haptic interface, is reported together with suggestions for future research.