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Continuous advances in computer technology are making it possible to construct virtual environments with an ever-increasing sense of visual realism. What is lacking are interfaces that allow users to manipulate virtual objects in an intuitive manner. In this paper, we present a 7 DOF tension-based haptic interface that allows users to not only grip an object but also to sense an object's width. We have developed a system to utilize the physical action of gripping to display grasp manipulation in virtual environments. We also present a method to calculate the position and display force associated with this gripping mechanism. Finally, we show the validity of our proposed haptic interface through examples.

Development of tension based haptic interface and possibility of its application to virtual reality