Touch and trace on the free-form surface of virtual object

The Space Perception System with a 3D man-computer interface device, has been built for human factors experiments. An algorithm using a distribution function is utilized to define model shapes in a virtual environment. In this algorithm, the system is able to recognize the interference between the 3D cursor following an operator´s hand and virtual objects in real time. Impedance control of robotics is utilized to calculate the reaction force which is transmitted in real time from the virtual object to the operator´s hand through the 3D man-computer interface device. With the combination of the algorithm using the distribution function and the impedance control, the operator can touch and trace the surface of the virtual model which is composed of free-form surfaces in a virtual environment, and can recognize its hardness