Interactive dynamic simulation using haptic interaction

Wookho Son, Kyunghwan Kim, Nancy Marie Amato, Jeffrey C. Trinkle

Research output: Contribution to journalArticlepeer-review


This paper describes an interactive dynamic simulator for virtual environments which allows user interaction via a haptic interface. The interactive simulation is performed in our testbed dynamic simulator I-GMS, which has been developed in an object-oriented framework for simulating motions of free bodies and complex linkages such as those needed for robotic systems or human body simulation. User-interaction is achieved by performing push and pull operations via the PHANToM haptic device which runs as an integrated part of I-GMS. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for a 6-dof robot manipulator.

Original languageEnglish (US)
Pages (from-to)145-150
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
StatePublished - 2000
Externally publishedYes


  • Dynamic simulation
  • Haptic interaction
  • Human body model
  • Interactive simulation
  • Object-oriented design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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