New Computational Methods for Simulating Friction and Plasticity


Under Construction

Drift-free, chattering-free friction models especially for fixed-step simulations, haptic rendering, and human-machine coordination.

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Simulation of a stick-slip phenomenon using two Model-C elements.

Flush player needed

Flush player needed

A needle insertion simulator based on the Model C. It presents friction forces between the needle and soft tissues through a haptic device. It also presents a "pop," which is a sudden loss of the force felt when the needle penetrates a tissue layer.

Snapshot of the simulator

Experimental setup
(Logitech G25 Raching Wheel)
We are also working on an interactive simulator of vehicles based on new computational models of friction.

Literature on Discrete-Time Friction (Plasticity) Models

Basic Techniques


Ryo Kikuuwe's Homepage