This paper describes the haptic rendering of a virtual environment by drawing upon concepts developed in the area of teleoperation. A four-channel teleoperation architecure is shown to be an e ective means of coordinating the control of a new 3-DOF haptic interface with the simulation of a virtual dynamic environment.

This paper describes the haptic rendering of a virtual environment by drawing upon concepts developed in the area of teleoperation. A four-channel teleoperation architecure is shown to be an effective means of coordinating the control of a new 3-DOF haptic interface with the simulation of a virtual dynamic environment.

This paper presents a new type of haptic device using spherical geometry. The basic idea of haptic devices is to provide users with feedback information on the motion and/or force that he or she generates. Haptic devices have several potential applications, such as for example, fine compliant assembly, VR environment simulation and high precision teleoperation, especially in hazardous or hostil...

We present in this paper an iterative algorithm to solve constraint forces for haptic interactive simulation. The haptic forces are induced by interaction with guidance virtual fixtures having forbidden regions. In general, a haptic rendering based on an explicit formulation of the constraint forces (with virtual springs) can lead to severe numerical stability problems in case of hard constrain...

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered h...

In this paper we present the results of experiments that explore the ability of the human fingertip to detect haptically simulated first-order and second-order surface discontinuities. A single finger, planar motion fingertip haptic display (FHD) developed at the University of Washington (UW) was used by multiple test operators under a variety of treatment conditions. Experiment variables inclu...

In the fields of virtual reality, physically-based simulation focuses on reproducing the motion and properties of real objects in virtual environments. Until now, various physically-based models of mechanical phenomena have been proposed in the literature, simulating several physical properties such as rigid, fluid or deformable behaviors of the multiple real-life objects. In this master thesis...

Physically accurate modeling of human soft-tissue is an active research area in surgical simulation. The challenge is compounded by the need for real-time feedback. A good understanding of human haptic interaction can facilitate tissue modeling research, as achieving accuracy beyond perception may be counterproductive. This paper studies human sensitivity to haptic feedback. Specifically, the a...