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Transactions of the Society of Instrument and Control Engineers
A path-planning algorithm for encountered-type haptic devices that render multiple virtual objects in 3D space is proposed. To render multiple virtual objects with a single haptic device, the following two behaviors must be realized; (i) the device should move to the target object location in advance of the user's hand so that the user can encounter it; (ii) otherwise, the device should keep away from the user's hand, avoiding an unexpected collision. To realize such a consistent encounter, thedoi:10.9746/sicetr1965.40.139 fatcat:yni5j5dtmjfmpjkulxksaatuxu