This paper presents a new Haptic Rate-Position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing ta...

In this paper, we present the discovery of new haptic illusions, and a method for creating further haptic illusions. Pure haptic illusions were created by mixing force cues with geometric cues to make people feel shapes that differ from the actual shape of the object. In particular, we found that an area that feels harder to move through and easier to move out of can be interpreted as a region ...

A taxonomy of haptic modes is proposed as a basis for evaluating haptic interfaces. Haptic modes are defined as distinct styles of using haptic perception for purposeful activity. An evaluation method that exercises a single haptic mode tests the hardware and software of the interface on a task that has a clear relationship to actual applications. To demonstrate this approach to evaluation, the...

While feedback of the grasping force is necessary to manipulate objects skillfully, most Virtual Reality systems do not provide such feedback. Grasping an object is often reduced to pushing a button on the interface. This paper presents the design and realization of a haptic forceps for microsurgery training, and its integration on a haptic 6DOF DELTA device. Psychophysical experiments were fir...

couples the human operator to a source of mechanical power—either electromagnetic, electrohydraulic, or electropneumatic actuators. The computation engine governs the behavior of the actuators and linkage as a function of kinematic and force measurements from interface transducers, according to algorithms and equations that describe the VE models to be simulated. A force reflecting interface th...

The quality of a simulator equipped with a haptic interface is given by the dynamical properties of its components: haptic interface, simulator and control system. Some application areas of such kind of simulator like musical synthesis, animation or more general, instrumental art have specific requirements as for the ”haptic rendering” of small movements that go beyond the usual haptic interfac...