A proposal of two-handed multi-finger haptic interface with rotary frame

We propose a method to optimally control a rotary frame of two-handed multi-finger wire driven haptic device SPIDAR-10 which makes technical operation possible. SPIDAR-10 enable users to manipulate virtual objects in a VR world with ten fingers of both hands. Twenty wires are tensioned for five fingers of one hand in each cylindrical frame of right and left hand. Therefore, the interference of the wires in the frame causes a problem when performing a complex operation by using both hands. If the interference occurs, the operator may feel not only uncomfortable but also affect a bad influence on the accuracy of the position and orientation estimation of fingers. So, it is necessary to reduce the interference of the wires.