Development of tension based haptic interface and possibility of its application to virtual reality

Authors:
Seahak Kim;Masahiro Ishii;Yasuharu Koike;Makoto Sato
Affiliations:
Tokyo Institute of Technology, 4259 Nagatsuda, Midoriku, 226-8503 Yokohama, Japan;Tokyo Institute of Technology, 4259 Nagatsuda, Midoriku, 226-8503 Yokohama, Japan;Tokyo Institute of Technology, 4259 Nagatsuda, Midoriku, 226-8503 Yokohama, Japan;Tokyo Institute of Technology, 4259 Nagatsuda, Midoriku, 226-8503 Yokohama, Japan
Venue:
VRST '00 Proceedings of the ACM symposium on Virtual reality software and technology
Year:
2000

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Abstract

Continuous advances in computer technology are making it possible to construct virtual environments with an ever-increasing sense of visual realism. What is lacking are interfaces that allow users to manipulate virtual objects in an intuitive manner. In this paper, we present a 7 DOF tension-based haptic interface that allows users to not only grip an object but also to sense an object's width. We have developed a system to utilize the physical action of gripping to display grasp manipulation in virtual environments. We also present a method to calculate the position and display force associated with this gripping mechanism. Finally, we show the validity of our proposed haptic interface through examples.