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Improved Haptic Rendering for Multi-Finger Manipulation Using Friction Cone based God-Objects

A novel method of characterising friction in a virtual haptic environment is described and validated in a small experimental two-finger grasp task. The algorithm adapts a common technique called the god-object method, such that the god-object is updated only when it strays outside the friction cone defined by the coefficient of friction of the object surface. The technique not only allows efficient robust estimation of friction but also can give residual forces and torques thereby allowing the object to be manipulated in a natural fashion.