Design of a multiple contact point haptic interface

This paper addresses key perceptual and psychophysical issues concerned with the design of a multiple contact point haptic device. The majority of commercially available haptic devices operate based on a principle of point interaction. Thus, contact between the operator and the simulated virtual environment occurs only at an arbitrary single point, typically the tip of a stylus or thimble used for interaction. However, this can severely impair, or even exclude, perception of object material properties. It is shown that a haptic interface mechanism incorporating several points of contact, corresponding to the tips of different fingers, for example, may facilitate more optimal acquisition of information regarding object properties. An example of how several grounded devices may be positioned to combine their workspace is presented, achieving a workspace of roughly 20x30x15 cm.