{"paper":{"title":"Peg-in-Hole Revisited: A Generic Force Model for Haptic Assembly","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CG","cs.RO"],"primary_cat":"cs.HC","authors_text":"Horea T. Ilies, Morad Behandish","submitted_at":"2017-11-14T09:30:49Z","abstract_excerpt":"The development of a generic and effective force model for semi-automatic or manual virtual assembly with haptic support is not a trivial task, especially when the assembly constraints involve complex features of arbitrary shape. The primary challenge lies in a proper formulation of the guidance forces and torques that effectively assist the user in the exploration of the virtual environment (VE), from repulsing collisions to attracting proper contact. The secondary difficulty is that of efficient implementation that maintains the standard 1 kHz haptic refresh rate. We propose a purely geometr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1711.05016","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}