Haptic display for object grasping and manipulating in virtual environment

A haptic display for grasping and manipulating virtual objects in a CAD environment is investigated for the development of rapid prototyping technology. The operator receives the sensation of contacting and tracing of the surface of the virtual object, and of grasping and manipulating the object from the haptic display. After the control of the haptic display is formulated, it is implemented on the Sarcos Dexterous Arm Master. The proposed haptic display is experimentally confirmed to provide realistic sensation that enables the operator to grasp and manipulate the virtual object easily as intended.