Display of Feel for the Manipulation of Dynamic Virtual Objects

[+] Author and Article Information
Tsuneo Yoshikawa, Yasuyoshi Yokokohji, Tomoharu Matsumoto, Xin-Zhi Zheng

Department of Mechanical Engineering, Faculty of Engineering, Kyoto University, Kyoto 606, Japan

J. Dyn. Sys., Meas., Control 117(4), 554-558 (Dec 01, 1995) (5 pages) doi:10.1115/1.2801114 History: Received March 28, 1994; Revised August 11, 1994; Online December 03, 2007


A system for displaying feel information, while manipulating virtual objects, which takes their dynamic behavior into account is introduced. The display is realized using multiple link mechanisms. New concept of impedance display and two ways of its realization, “measuring force and displaying motion” and “measuring motion and displaying force,” are proposed. Calculation algorithms for the driving input to the display device for the operation of both single-body and multi-body virtual objects are established. The validity of the proposed method is verified experimentally using a newly developed two-finger display device.

Copyright © 1995 by The American Society of Mechanical Engineers
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