Haptic sensing for MEMS with application for cantilever and Casimir   effect
  This paper presents an implementation of the Cosserat theory into haptic sensing technologies for real-time simulation of microstructures. Cosserat theory is chosen instead of the classical theory of elasticity for a better representation of stress, especially in the nonlinear regime. The use of Cosserat theory leads to a reduction of the complexity of the modelling and thus increases its capability for real time simulation which is indispensable for haptic technologies. The incorporation of Cosserat theory into haptic sensing technology enables the designer to simulate in real-time the components in a virtual reality environment (VRE) which can enable virtual manufacturing and prototyping. The software tool created as a result of this methodology demonstrates the feasibility of the proposed model. As test demonstrators, a cantilever microbeam and microbridge undergoing bending in VRE are presented. 
M. Calis, Marc Desmulliez