Display of Object Grasping Friction Forces Using Multi-Fingered Haptic Interface

Abstract

When a virtual object is grasped by human hand, the grasped and the slipped states should be both presented with reality. This paper presents a computational technique for calculating the static and dynamic friction force, in addition to friction moment applied to haptic rendering. The proposed technique is evaluated by using a five-fingered haptic interface named HIRO II combined with virtual reality simulation system.