Feeling and seeing: issues in force display
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
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
A portable dextrous master with force feedback
Presence: Teleoperators and Virtual Environments - Premier issue
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Providing Force Feedback in Virtual Environments
IEEE Computer Graphics and Applications
Pen-based force display for precision manipulation in virtual environments
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
VRAIS '96 Proceedings of the 1996 Virtual Reality Annual International Symposium (VRAIS 96)
Texture Presentation by Vibratory Tactile Display Image based presentation of a tactile texture
VRAIS '97 Proceedings of the 1997 Virtual Reality Annual International Symposium (VRAIS '97)
International Journal of Robotics Research
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The sensations of touch and force have come to be recognized as essential factors in virtual reality, and many efforts have been made to develop display devices that reproduce these sensations. Such devices are divided into two categories: wearing and nonwearing. In this paper, a method is proposed for representing virtual objects of arbitrary shapes using a nonwearing device. Based on this method, a device was fabricated to describe our approach. Our prototype device was designed to approximately represent part of the surface of a virtual object as a tangential surface (i.e., partial surface) to the user's fingertip. The device was implemented as a mechanism with five degrees of freedom that are commonly used to measure the fingertip position and to present the partial surface to the fingertip. The mechanism was controlled through two calculation loops: a model loop that gives a tangential surface from the fingertip position and the shape of objects, and a servo loop that manages the mechanism to represent the given tangential surface by the partial surface. Also, a stereoscopic, head-tracking visual system was implemented to realize the combined presentation of visual information and the partial surface. As an example of the applications of the environment, a task of writing characters was simulated. From the observation of the performance of the task, the presentation of the partial surface was proved to have an effect on decreasing blur and dragging in written characters.