This paper models the effects of different contact formations and compliant motion on haptic rendering, taking into account friction and gravity. When a held rigid object interacts with another rigid object (in a task such as assembly), the force and moment felt by the operator at any instant depend not only on the contact region but also on the type of the contact state and the type of motion of the held object prior to reaching the current contact configuration, especially in the presence of friction and gravity. We address the modeling of such haptic effects by extending our study for the case of two interacting convex polyhedral rigid bodies to the more general case of interacting non-convex polyhedral objects involving more complex contact formations and compliant motion.

When a held object interacts with another object (in a task such as assembly), the haptic force and moment felt by the operator at any instant depend not only on the contact region but also on the type of the contact state and the type of motion of the held object prior to reaching the current contact configuration, especially in the presence of friction and gravity. In this paper, we address the influence of contact state and motion types on haptic force and moment and present an efficient method to model such haptic effects resulted from the interaction of two convex polyhedral solids, taking into account friction and gravity.

This system is mainly composed of an industrial robot, dexterous hand (BH-3), graphic simulation and planning module, 6-DOF teleoperated mechanical arm (BH-TMA) and data glove with 5-fingered 11-DOF (BHG-3), etc. It consists of vision, force, torque, fiber, angle, and fingertip tactile sensors. In order to implement some complex operations in the integrated system, we propose a task-oriented hierarchical control share model. Moreover, we also express our viewpoints about share control in the teleoperated system. Finally, the experimental and simulative results are given to show that the share control construction is highly efficiency and effective.