Comparing force information from a real object with that from a virtual object using a system for measuring and describing 3D force feedback

Abstract

While common approaches to haptic description in virtual reality system were to present simplified physical models like stiffness and viscosity of the virtual objects, reconstruction of the sense of touch based on the actual haptic measurements were not fully investigated. To realize such a presentation of touch, it is necessary to compare the three-dimensional force from a virtual object with that from a real object in a standardized experimental condition. In this paper, we propose a system consisting of a haptic device and a 3D force sensor. This system can acquire 3D force information from a real object as well as a virtual object. Using the system, we compared the force from a real object with that from a virtual object, in a physical and psychological manner.