Virtual environment for haptic interface in robotic network system

摘要

In this paper we present a dynamic force simulator (DFS) for force feedback in human-machine systems. DFS simulates object dynamics, contact model and friction characteristics of the human hand interacting with the object in virtual reality. Interaction with DFS allows calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed. In the future we will use this system to analyze human dextrous manipulations called human skill.