Tangible simulations Generalized haptic devices for human-guided computer simulations

This paper presents the idea of a tangible simulation: a computer simulation along with a coupled custom robotic interface that provides a physical representation of the simulation state and a tangible means of controlling key simulation parameters. The tangible simulation concept is prototyped in a three-body gravitational simulation using two haptic arm devices. Interface concepts for controlling planetary position and velocity along with changing simulation parameters such as simulation time step are demonstrated. The final system is able to explore and control the coupled computer simulation through the tangible simulation interface.