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Title: Stable haptic rendering for physics engines using inter-process communication and remote virtual coupling
Authors: He, XJ
Choi, KS 
Issue Date: 2013
Source: International journal of advanced computer science & applications, 2013, v. 4, no. 1, p. 15-24
Abstract: Availability of physics engines has significantly reduced the effort required to develop interactive applications concerning the simulation of physical world. However, it becomes a problem when kinesthetic feedback is needed in the applications since the incorporation of haptic rendering is non-trivial, where fast haptic data update is demanded for stable rendering. In the regard, a framework for integrating haptic rendering into physics simulation engines is proposed. It mediates the update-rate disparity between haptic rendering and physics simulation engine by means of inter-process communication and remote virtual coupling, which fully decouples haptic rendering from complex physical simulation. Experimental results demonstrate that this framework can guarantee fast haptic rendering at 1k Hz even the physical simulation system operates at very low update rate. The remote virtual coupling algorithm shows better performance than the interpolation based methods in terms of stability and robustness.
Keywords: Haptic rendering
Physics engine
Inter-process communication
Virtual coupling
Publisher: The Science and Information Organization Inc.
Journal: International journal of advanced computer science & applications 
ISSN: 2158-107X
EISSN: 2156-5570
DOI: 10.14569/IJACSA.2013.040103
Rights: Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License (, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.
The following publication X. He , K.S. Choi. Stable Haptic Rendering For Physics Engines Using Inter-Process Communication and Remote Virtual Coupling. International Journal of Advanced Computer Science and Applications, vol. 4, no.1, pp. 15-24, 2013 is available at
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