Virtual two-finger haptic manipulation method

Abstract

We purposed a novel method for haptic grasping that enables the user to dynamically and naturally control the grasping force between two virtual haptic pointers and the grasped object. This method uses a single haptic interface to control two virtual haptic pointers connected with spring-damper couplings. The user’s grasping force is measured with a force sensor, this sensor is placed between the user’s fingers and the haptic interface pointer. Then the measured force is introduced into the couplings that connect both pointers. By this means, the user can grab and control the grasping inertia of the grabbed object; enabling a natural and dexterous manipulation.