Display of the Operating Feel of Dynamic Virtual Objects with Frictional Surfaces

Abstract

Artificial reality techniques have recently been drawing attention as techniques that will allow people to experience an illusory world without actually building the world, or to obtain the operating feel of a product without actually building the product. The pioneering effort of Fisher et al. (1986) was to develop an interface between the operator and the computer-generated virtual space using a head-mounted display (HMD) and a glovelike tactile input device (the Data Glove). While large amounts of output information is presented to human beings by computer through visual and sound display, the importance of force display has been recognized and discussed by many researchers. Ouh-young, Beard, and Brooks (1989) reported some experimental results on force and visual display in a six-dimensional drug-molecule docking task. Agronin (1987) and Sato, Hirata, and Kawarada (1991) proposed a string-based force-display device. Minsky et al. (1990) developed a Sandpaper system consisting of a two-degree-of-freedom joystick for simulating texture; their control method and

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