2003 Volume 8 Issue 2 Pages 207-211
This paper deals with a virtual maze which displays invisible passages and walls for our palms in real space. Our virtual maze consists of a robotic positioner and a force-reflecting gripper, and we can move the gripper smoothly with small force along the virtual passage. First, we describe the hardware system and the software system of the virtual maze. Next, we show the experimental performance of our virtual maze. Finally, we report haptic exploration results of the invisible maze by using the virtual maze, and discuss the relation between the arrival time at the goal and the difficulty of the maze, and the haptic memory of invisible passages.