Intermediate representation for stiff virtual objects

Yoshitaka Adachi, Takahiro Kumano, Kouichi Ogino

Research output: Contribution to conferencePaperpeer-review

142 Citations (Scopus)


A method of intermediate space for controlling haptic interfaces is characterized by updating a virtual plane at a low frequency while maintaining a high update rate at force control loop of the interface. By using the virtual plane, the detection of collisions between the tip of finger and virtual objects became independent from the control of the haptic interface. This will enable the haptic interface to display more and more complex surfaces in keeping the same sampling frequency of Impedance control. It was revealed by the experiments with a haptic interface SPICE that an operator could touch and trace smoothly on a curved surface of stiff virtual object, even if the update rate of the virtual plane is relatively low.

Original languageEnglish
Number of pages8
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE Annual Virtual Reality International Symposium - Triangle Park, NC, USA
Duration: 1995 Mar 111995 Mar 15


OtherProceedings of the 1995 IEEE Annual Virtual Reality International Symposium
CityTriangle Park, NC, USA

ASJC Scopus subject areas

  • Software


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