A constraint-based god-object method for haptic display

Haptic display is the process of applying forces to a human "observer" giving the sensation of touching and interacting with real physical objects. Touch is unique among the senses because it allows simultaneous exploration and manipulation of an environment. A haptic display system has three main components. The first is the haptic interface, or display device, generally some type of electro-mechanical system able to exert controllable forces on the user with one or more degrees of freedom. The second is the object model-a mathematical representation of the object containing its shape and other properties related to the way it feels. The third component, the haptic rendering algorithm, joins the first two…

• OO
  Office of Naval Research