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.

Issue Section:
Technical Papers
Topics:
Algorithms, Force measurement, Motion measurement
1.
Agronin, M. L., 1987, “The Design of a Nine-String Six-Degree-of-Freedom Force-Feedback Joystick for Telemanipulation,” Proc. NASA Workshop on Space Telerobotics, pp. 341–348.
2.
Fisher
S. S.
,
McGreevy
M.
,
Humphries
J.
, and
Robinett
W.
,
1987
, “
Virtual Environment Display System
,”
Comput. Graphics
, Vol.
21
(
1
), pp.
4
–
5
.
3.
Iwata
H.
,
1990
, “
Artificial Reality with Force-Feedback: Development of Desktop Virtual Space with Compact Master Manipulator
,”
Comput. Graphics
, Vol.
24
(
4
), pp.
165
–
170
.
4.
Minsky
M.
,
Ouh-young
M.
,
Steele
O.
,
Brooks
F. P.
, and
Behensky
M.
,
1990
, “
Feeling and Seeing: Issues in Force Display
,”
Comput. Graphics
, Vol.
24
(
2
), pp.
235
–
243
.
5.
Ouh-young, M., Pique, M., Hughes, J., Srinivasan, N., and Brooks, F. P., Jr., 1988, “Using a Manipulator For Force Display in Molecular Docking,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1824–1829.
6.
Ouh-young, M., V., Beard, D., and Brooks, F. P., Jr., 1989, “Force Display Performs Better than Visual Display in a Simple 6-D Docking Task,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1462–1466.
7.
Sato
M.
,
Hirata
Y.
, and
Kawarada
H.
,
1991
, “
Space Interface Device for Artificial Reality—SPIDAR
,”
Trans. Inst. Electron. Inf. Commun. Eng. (Japan)
,
J74D-II
(
7
), pp.
887
–
894
.
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 by The American Society of Mechanical Engineers
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