Feeling and seeing: issues in force display
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Foundations of robotics: analysis and control
Foundations of robotics: analysis and control
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Project GROPEHaptic displays for scientific visualization
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Simulation and presentation of curved surface in virtual reality environment through surface display
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Tactile Display Using Elastic Waves
VRAIS '98 Proceedings of the Virtual Reality Annual International Symposium
Development of ER Actuators and Their Applications to Force Display Systems
VRAIS '98 Proceedings of the Virtual Reality Annual International Symposium
International Journal of Robotics Research
A new haptic device for applications in virtual reality and humanoid robotics
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
A Multi-Modal Haptic Interface for Virtual Reality and Robotics
Journal of Intelligent and Robotic Systems
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The importance of force and tactile display in virtual reality technology has been recognized recently, and much research has been undertaken, including development of various force and/or tactile display devices. However, many of these devices are always in contact with the fingers or hands of the operators, and it is impossible for an operator to feel the difference between a contact and a noncontact state with a virtual object directly from tactile sensory channel in his/her finger or hand. This paper presents a new haptic display device that we have developed that provides both touch and force feeling to the operator's fingers. The device tracks the operator's finger without contact when the finger is not in contact with any virtual object. When some virtual object is in contact with the finger, the device touches and displays force to the finger. A control algorithm for the system is given to display the dynamics of the virtual objects. Preliminary experimental results are also presented to show the feasibility of the device and the validity of the control algorithm.