Development of 3D-input device for virtual surface manipulation

This paper reports the virtual surface manipulation system with force feedback. The developed system is a Cartesian manipulator with stiffness, toughness, and linearity. The proposed manipulator allows the operator spatially manipulates the virtual space with 6DOF, using a force sensor. The control system of the manipulator realizes smooth movement using velocity control. As an application of the system, the deforming operation of virtual surface is shown in an experiment. This paper describes the mechanism and the control method of the manipulator with adaptive damper using network architecture learning through backpropagation technique