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In this paper, we introduce 6DOF (degree-of-freedom) finger-mounted haptic device which we have developed. When we operate virtual objects with our fingers, it is necessary to use 6DOF finger-mounted haptic device. But such a device is often so large with many actuators equipped, that most of these reserches to operate virtual objects with haptic device have been done using those with only 3DOF. It is clear, however, that we need to use 6DOF haptic device for more detailed operation. Thus, we developed a small-sized, finger-mounted haptic device, with the mechanism of bevel gear, and then confirmed its operational effectivness by operating a virtual object with two fingers. To calculate force and moment at the state of contact in virtual world, we have used“friction contact model”.

Development of 6DOF Finger-mounted Haptic Device for Operation with Two Fingers.