Virtual reality simulation modeling for a haptic glove

The recent addition of force and touch feedback to virtual reality simulations has enhanced their realism. Research on haptics interfaces is now extended to physical modeling of contact surfaces, object hardness, surface deformation, etc. This is especially needed when dextrous manipulation of virtual objects is concerned. The paper describes a VR system using a haptic glove (Rutgels Master II) connected to a PC workstation, and a new method for modeling virtual hand haptic interactions. An application example presented here is an orthopedic rehabilitation library. The exercises in this library involve interactions with dynamic objects and physical modeling of plasticity