Simulation of Soft Finger Contact Model with Rolling Effects in Point-Contact Haptic Interfaces

  • Gionata Salvietti
  • Monica Malvezzi
  • Domenico Prattichizzo
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)


Computation of contact point trajectories and forces exchanged between two bodies in contact are relevant to several disciplines. The solutions proposed in the literature are often too complex to be implemented in real time simulations, especially if rolling effects are considered. In this chapter, an algorithm for fast simulation of soft-finger contact model with rolling effects is proposed. The main idea is to use Euler angle decomposition algorithm to quantitatively describe the torque exchanged about the normal at the contact point and the motion of the contact point due to rolling. The proposed algorithm is validated with simulations and a preliminary application to point-contact haptic interface is proposed.


Contact modeling Soft finger model Rolling effects 



The research leading to these results has received funding from the European Union Seventh Framework Program FP7/2007-2013 under the grant agreement 601165 of the project “WEARHAP” and under the grant agreement 270460 of the project “ACTIVE”.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Gionata Salvietti
    • 1
  • Monica Malvezzi
    • 2
  • Domenico Prattichizzo
    • 1
    • 2
  1. 1.Department of Advanced RoboticsIstituto Italiano di TecnologiaGenoaItaly
  2. 2.Department of Information Engineering and MathematicsUniversità degli Studi di SienaSienaItaly

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