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This paper presents the design and experimental evaluation of the end-effector of a dexterous encounter type haptic interface aimed at allowing natural interactions with digital mockups in Virtual Reality. This end-effector has two purposes: first, it should be able to precisely measure the 6D position and orientation of a fingertip remotely without equipping the user with any marker on the skin or...
Haptic interfaces aim at realistically simulating physical interactions within a Virtual Environment (VE) through the sense of touch. Therefore, they should display both a negligible impedance in free space and high forces and stiffness in contact. These constraints are however difficult to meet simultaneously. While compromises can usually be found when interacting through a handle grasped in hand,...
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