“…We, therefore, need to address the question of how to reason about suitable interfaces for connecting two physical objects, each of which represents a spatial element at the physical level. As reported in previous studies [17,18] to derive types of contact (e.g., point contact or line contact). However, the major difference of this previous approach to the one proposed in this paper is as follows: while earlier work [17,18] describes how an interface is to be connected (e.g., line contact), our proposed method proposes that, in addition to the type of contact needed, a physical interface should include information on the interface shape (e.g., groove) and the position of the contact point.…”