The objective of this research is to develop a haptic interface system that allows force interactions with computer-generated virtual reality graphical displays. This system is based on coupling the human hand with a robotic manipulator using electromagnetic principles. The development and interfacing of the mechanical hardware used to implement the force feedback system is a major aspect of the research. A six degree of freedom robot manipulator is used as the motion platform for the force interface device and to provide reactions for the electromagnetic forces. The robot will hold the magnetic force generation device near the hand of the user, using position and orientation tracking to follow the motion of the user's hand. Virtual forces will be computed from the interactions between objects and the user's hand in the virtual environment and transmitted to the human by energizing electrical coils attached to the finger tips of the user. Development of a virtual environment for studying real-time interactions is also a part of the research. Geometric models of the virtual objects will be developed and displayed using a head mounted display coupled with a Silicon Graphics, Inc., Onyx Reality Engine. The position of the user's head will provide visual orientation of the graphics scene. The motion of the user's hand will be measured using the relative position of the robot. Finally, strategies for real time motion and collision detection of the objects in the virtual environment will be developed.
