Closed-loop force control for haptic simulation: Sensory mode interaction

In creation of human senses virtually, haptics is the new virtual sensation that has been developed over last few decades. Haptics, the sensation of physical touch to the virtual objects, is the most recent enhancement to virtual environment. With haptic simulation, virtual objects with differentproperties could be created to touch by using haptic device. The force feedback mainly focused on stiffness and friction of objects. This paper presents the simulation of forces, consideration and reasoning for selecting the parameters. The outcome of the simulation and generation of force feedbacks are measured and examined by using closed-loop force control which the user exerted force on virtual objects will be monitored and discussed. This project is based on the sensory mode of haptic interaction and the simulation of three different virtual objects with different force feedbacks that are simulated and touched via PHANToM Desktop device. © 2009 IEEE.