9457981 Long This research addresses the interaction between humans, machines, and electronic media by exploring the potential of Force- Reflecting Haptic-Environment for Computer-Aided Design, Telerobotics, and Virtual Reality applications. The research draws upon an indepth understanding of haptic recognition in humans, force-reflection and haptic-simulation schemes, and screw-systems theory. The force-reflecting haptic-environment is comprise of adjustable left/right haptic hand-imprints, each mounted on separate six degree-of-freedom in-parallel force-reflecting plat- forms. the hand-imprints simulate various haptically important properties such as texture, hardness, and thermal conductivity. The six degree-of-freedom in-parallel force-reflecting platforms, which engage the upper limbs, constrain hand motion along prescribed geometric contours. The entire system is compact and light enough to place in a brief case. This novel force-reflecting haptic-environment is intended for rapid development of computer-designed products, manipulation of remote physical objects (telerobotics and robotics-surgery), and interaction with computer-generated non-physical objects (virtual reality).
