Visual Reinforcement and Unilateral Constraints with Virtual Mechanisms for Under-Actuated Haptics

Greg R. Luecke


Haptic Feedback, Virtual Reality, Force Feedback, Force Control


Haptic feedback has enormous potential for interactions with computer generated simulations in Virtual Reality (VR) . While many haptic devices have been designed and developed, one popular device is the PHANTOM®, which has three powered degrees of freedom. Building on previous work with the Virtual Manipulator (VM) approach to haptic force generation, we develop unilateral constraints and a graphical bending model for a virtual probe to enhance the force feedback experience. Experimental results show how the system works and provides an idea of the perceptual improvements possible with the approach.

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