Abstract
Various applications as tele-operation, training, amusement, design supporting and other virtual reality become more immersible by force sensation. While passive force displays which use only passive elements are inherently safe, unique control strategies are required to interact with virtual objects, such as tracing over surfaces of the objects. In this paper, we introduced a basic algorithm to represent virtual walls with arbitrary orientation by passive force display. And we developed it to present polygons as triangle or circle for displaying arbitrary shape objects. Passive type systems also have a problem as it is hard to present some positions and orientations of virtual objects. Against that problem, we used a passive type force display system with redundant couple of brakes mentioned in the previous paper.
