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Abstract

An approach for displaying the feel of manipulating dynamic virtual objects with frictional surfaces using a haptic display device is introduced. A unified description of the dynamics of virtual objects based on the Lagrangian formulation is derived. The detection of the grasp states, and the friction effects at the grasp points on virtual object surfaces, which are important to help us recognize an object and handle it more dexterously, are treated explicitly. Display algorithms are provided that create and present to the operator the dynamic operating feel of an object as well as the friction feel on the object 's surface. Experimental verification on the proposed approaches is performed, and its results are outlined.

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

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