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The process of programming and interacting with an industrial robot is not only restricted to the definition of an abstract program that defines the robot modus operandi. So increasingly, there is a demand for "different" ways to interact with robots, but with a well defined goal: to make the interface human-machine more intuitively. An area of knowledge that has been widely studied over the last years is related to the ability of a user to receive force feedback from a virtual or real robot whereas it performs a certain task. Commonly, this human-machine interaction process is made through a...

Surface description accuracy is of paramount importance when modelling contact problems. However, most FEM researchers still resort to polyhedral models to describe contact surfaces, which can oversimplify the original system by neglecting the curvature. To try to bridge this gap between CAD and CAE models, Nagata (2005) proposed a simple algorithm for interpolating discretized surfaces and recover the original geometry. In this work the Nagata patches algorithms are applied to interpolate polyhedral meshes of simple geometries (cylinder, sphere and torus), using the normal vector...