Haptic display for human interaction with virtual dynamic environments

Haptics is an emerging technology that permits direct hands-on interaction with a virtual environment. A haptic device uses mechanical actuators to physically push a user's finger or hand to give the sensation that he or she would have when interacting with a real physical environment. These force feedback systems have many applications, from training a surgeon to perform an operation, to assisting a child in understanding the behavior of a lever or pulley. In this paper we discuss methods and techniques to allow realistic and robust haptic interactions between a human and a complex dynamic virtual environment. Beyond modeling object penetration constraints, this work demonstrates how shading, friction, texture, and dynamics can be generated to create compelling and realistic virtual worlds. (C) 2001 John Wiley & Sons, Inc.