VR '99 Proceedings of the IEEE Virtual Reality
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Presence: Teleoperators and Virtual Environments
Virtual and interactive environments for work of the future
International Journal of Human-Computer Studies - Interaction with virtual environments
Presence: Teleoperators and Virtual Environments
Ubi-Pen: a haptic interface with texture and vibrotactile display
IEEE Computer Graphics and Applications - Special issue title on generating 3D building models a VR playground for teaching math
HAID'07 Proceedings of the 2nd international conference on Haptic and audio interaction design
Presentation of sudden temperature change using spatially divided warm and cool stimuli
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
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This article presents conceptual as well as experimental work toward the display of holistic haptic sensations in telepresence and virtual environment applications. (In this context holistic is understood in the sense of "not neglecting an essential component.") In contrast to most existing developments, the presented haptic human-system interface is a combination of dedicated subsystems for both kinesthetic and tactile display. With respect to the mechanical coupling of both subsystems, we propose two basic approaches. One is based on a parallel kinematic system setup and forms the conceptual basis of a multifingered experimental feedback device generating vibrotactile, thermal, and wrist/finger kinesthetic stimuli. Another is to demonstrate the potential to reduce the design complexity of tactile display sub-systems in haptic human-system interfaces with a serial kinematic structure. For verification purposes, a tactile actuator array providing spatially distributed tactile shape display on a single fingertip has been combined with a single-fingered kinesthetic display. Each of the investigated combined haptic systems features significant functional advances compared to existing developments. The usability of our systems has been demonstrated in haptic exploration and object identification experiments in virtual environments.