We propose character motion creation method with the feeling of manipulating puppets. In proposed system ,characters is composed of the solid body and the plastic strain joint on a physical simulation. In addition, usersoperate characters by the haptic interface. To present the haptic sense of the transformation of a real puppet,the plastic strain joints is simulated. Plastic strain joints are simulated by using three elements model that iscomposed of a spring and two dampers. Moreover, the simulate of three elements model is integrated into LCPsolver which compute constraints in the physics engine.
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