抄録
This paper presents an object manipulation technique in virtual environment by using a positioning controlled of haptic device to present a stiff virtual object to human operator. It is difficult for a haptic device of force control to presents a stiff virtual object (ex machine part) to a human operator. The operator feels unpleasant vibration through the haptic device when a stiff object collide another stiff objects. This technique controls position of the grip of haptic device along the trajectory which the manipulated object moves. This effectiveness was confirmed by experiments.
