Intermediate representation for stiff virtual objects

A method of intermediate space for controlling haptic interfaces is characterized by updating a virtual plane at a low frequency while maintaining a high update rate at force control loop of the interface. By using the virtual plane, the detection of collisions between the tip of finger and virtual objects became independent from the control of the haptic interface. This will enable the haptic interface to display more and more complex surfaces in keeping the same sampling frequency of impedance control. It was revealed by the experiments with a haptic interface SPICE that an operator could touch and trace smoothly on a curved surface of stiff virtual object, even if the update rate of the virtual plane is relatively low