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Operations such as object manipulation and palpation rely on the fine perception of contact forces, both in time and space. Haptic simulation of grasping, with the rendering of contact forces resulting from the manipulation of virtual objects, requires realistic yet interactive models of hand mechanics. This paper presents a model for interactive simulation of the skeletal and elastic properties of...
In virtual reality, some applications demand a fast, stable force response with high strength for use in haptic interfaces. While the existing active and passive actuators cannot fully satisfy these requirements alone, their cooperation could provide better results. This study aimed at the development of a hybrid actuator by combining a DC servomotor and a particle brake. The actuator was tested for...
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