9403730 Colgate This project deals with the haptic display of rigid body dynamic systems. A haptic interface allows an operator to manipulate and feel computer-generated environments in applications such as flight simulation, rapid prototyping systems and physical therapy. During the project activity, rigid body dynamic systems featuring unilateral and bilateral constraints are investigated using a network method approach for real-time solution. Such methods guarantee passivity and exploit a low-level of parallelism to achieve real-time integration rates for stiff dynamic systems. Transputers are employed as basic computational elements for laboratory implementation using a state-of-the- art four degree of freedom haptic display device. ***
