Tension Based 7 DOEs Force Feedback Device: SPIDAR-G

  • Published : 2002.03.01


In this paper, we intend to demonstrate a new intuitive force-feedback device for advanced VR applications. Force feed-back for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp). The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We will show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G will be described in detail and the Space Graphic User Interface system based on the proposed SPIDAR-G system will be demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality.


  1. The LRP dextrous hand master, proceedings of VR system'93 conference M. Bouzit;P. Coiffet;G. Burdea
  2. Immersion Web.
  3. Proceedings of Automation'94 Conference v.5 The second generation rutgers master - RM II D.Gomez; G. Burdea;N. Langrana
  4. Bachelor of Science thesis, Massachusetts Institute of Technology Design of a three degree of freedom forcereflecting haptic interface T.H. Massie
  5. Computer Graphics (SIGGRAPH'90 Proceeding) Artificial Reality with Force-Feedback: Development of desktop virtual space with compact master manipulator H. Iwata
  6. Immersion Web.
  7. Proceedings of the ASME Dynamics Systems and Control Division v.DSC-58 Design of a hemispherical magnetic levitation haptic interface P.J.Berkelman;Z.J.Butler;R.L. Hollis
  8. The Transactions of the Institute of Electronics, Information and Communication Engineers (D-II) v.J74-D-II no.7 Space interface device for artificial reality-SPIDAR M. Sato;Y. Hirata;H. Kawarada
  9. PRESENCE (MIT Press Journal) v.3 no.4 Networked SPIDAR: A networked virtual environment with visual, auditory, and haptic interaction M. Ishii;M. Nakata;M. Sato
  10. International Conference on Artificial reality and Teleexistence(ICAT97) New interface device for human-scale virtual environment: Scaleable-SPIDAR L. Bouguila;Y.Cai;M.Sato
  11. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and System A new type of master robot for teleoperation using a radial wire drive system S. Kawamura;K. Ito
  12. Polyhedral convex cones in linear inequalities and related system A.J.Goldman;A.W.Tucker;H.W.Kuhn(ed.);A.W.Tucker(ed.)
  13. Maxon motor reference
  14. International Conference of American Society of Mechanical Engineering 1994 v.DSC-55-1 Force sensations in pick-and-place tasks M. Ishii;M. Sato
  15. International Conference of Artificial reality and Teleexistence (ICAT98) Personal VR system for rehabilitation to hand movement S.Kim;W. Somsak;M.Ishii;Y.Koike;M.Sato
  16. Presence v.3 no.1 A 3D spatial interface device using tensed strings M.Ishii;M. Sato https://doi.org/10.1162/pres.1994.3.1.81