This paper describes the development and current status of our combined physics-based model to simulate friction, compliance and adhesion on surfaces using a haptic interface. We use points on the surface to which a simulated stylus sticks until enough force is exerted to break free. The model is inherently stable at all transitions (to/from kinetic/static friction and adhesion) because the force model does not change between modes of attachment. We also present our earlier, unsatisfactory attempts and the problems they had. We describe an application that uses the model and the physics behind it.

This content is only available via PDF.
You do not currently have access to this content.