Feeling and seeing: issues in force display

Force display technology works by using mechanica l actuators to apply forces to the user, By simulating th e physics of the user's virtual world, we compute these forces in real-time, then send them to the actuators so that the user feels them, The force display technology we use in th e Sandpaper system is a motor-driven two-degree of freedo m joystick (built by Max Behensky and Doug Milliken) . The joystick position is reported to the software, whic h computes the appropriate forces for the joystick's motors .

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