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Summary: Integrating Tactile and Force Feedback with
Finite Element Models
Christopher R. Wagner, Ross L. Feller,
Douglas P. Perrin and Robert D. Howe
Division of Engineering and Applied Sciences
Harvard University, Cambridge, MA, USA
{cwagner,rfeller,dperrin,howe}@deas.harvard.edu
Olivier Clatz, Herv´e Delingette, and Nicholas Ayache
EPIDAURE, INRIA Sophia-Antipolis
BP 93, F-06902 Sophia Antipolis Cedex, France
{Olivier.Clatz, Herve.Delingette, Nicholas.Ayache}@sophia.inria.fr
Abstract-- Few systems have integrated the correct tactile
and kinesthetic force feedback response with an accurate
computational model of a compliant environment. We ex-
amine several design issues that arise in the construction
of a compliance render, specifically the interaction between
impedances of tactile displays, impedances of robot arms, and
the computational model. We also describe an implementation
of a compliance rendering system combining a low impedance
robot arm for large workspace kinesthetic force feedback, a
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