Haptic Rendering Methods for Multiple Contact Points

Vast majority of haptic applications are focused on single contact point interaction between the user and the virtual scenario. One contact point is suitable for haptic applications such as palpation or object exploration. However, two or more contact points are required for more complex tasks such as grasping or object manipulation. Traditionally, when single-point haptic devices are applied in a complex task, a key or a switch is used for grasping objects. Using multiple contact points for this kind of complex manipulation tasks significantly increases the realism of haptic interactions. Moreover, virtual scenarios with multiple contact points also allow developing multi-user cooperative virtual manipulation since several users simultaneously interact over the same scenario and perceive the actions being performed by others. It represents a step forward in the current haptic applications that are usually based on one single user.

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