Simulation of a non-linear sense using viscosity and stiffness control

We showed a non-linear sense using simple viscosity and stiffness control. We made a haptic interface like the PHANToM, and used a haptic rendering algorithm like a god-object algorithm. The haptic interface was used to display the sense, and the haptic rendering algorithm was used to make the virtual object which had some texture. To simulate this sense of touch we also needed to understand the haptic capabilities of a human. We demonstrated the simulation of the god-object point and showed how to display a non-linear sense, such as the sense of friction with a slip