Hernantes, J.Diaz, I.Alvarez, H.Borro, D.Cesar Mendoza and Isabel Navazo2014-02-012014-02-0120063-905673-61-4https://doi.org/10.2312/PE/vriphys/vriphys06/123-124Haptic technology is quite recent and therefore in many cases it is difficult to simulate real contacts or interactions with a high sensation of realism. Collision response methods that calculate the force-feedback tend to cause haptic instabilities when the normal direction changes abruptly. In consequence, collision events in sharp corners are often difficult to render properly by means of haptic devices. This paper describes a collision response method that first distinguishes the nature of the corners -concave or convex- and then provides an adequate solution in each case to avoid haptic instabilities.Categories and Subject Descriptors (according to ACM CCS): H.5.2 [Inforrmation Interfaces and Presentation]: User Interfaces-Haptic I/O, I.3.4 [Computer Graphics]: Three-Dimensional Graphics and Realism-Virtual reality