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Fingers Haptic Display in the Mixed Reality Environment

A system with direct manipulation environment is proposed. A user is allowed to use both of his/her hands to manipulate virtual objects in the simulated virtual world. 3D graphical displays with 3D virtual hands represented the user's real hands in the virtual world showing the manipulation works in the virtual world to the user. The 3D virtual hands move corresponding to the behavior of the real hands. We have developed a two-handed multi-fingers stringbased haptic interface device. By using this device, force feedback can be displayed at the eight fingertips (4 fingers on each hand) of the user. Eight fingertip positions measured from the user's real hands are used in modeling 3D virtual hands. By computing the joint angles of the fingers, the virtual hands pose can be estimated. In this paper, we have discussed about design policy of the system. Algorithms and computation are also given in detail. A manipulation of the virtual Rubik's cube is constructed and is given as an application of the proposed system.