AbstractWe propose an improvement for stable haptic rendering method for deformable objects. The methodwe use for deformation calculation is called Oriented Particle (OP). Since OP is based on positionbased dynamics (PBD) simulation, we calculate user-input of virtual coupling by a PBD constraintin OP. This constraint solves haptic input by displacement to match the PBD feature. We call it"haptic constraint". The instability problem occurred in explicit integration haptic simulation issolved by this method and we achieved a great alleviation of oscillation during the interaction. Ourmain contribution is an improved of haptic rendering system even using high spring value or lowmodel stiffness. This work is achieved by taking advantage of PBD, especially for deformable modelinteraction.
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