| 摘要 |
<p>The invention relates to a mixed modular haptic system meant for applications in the virtual environment which need a physical interaction with one or several virtual objects, which can offer a series of mixed haptic effects, such as force and tactile. According to the invention, the haptic system comprises a mixed modular haptic device which includes a mobile haptic device with six degrees of freedom offering various types of tactile haptic response, a standard haptic device with one or more kinematic degrees of freedom and one or more degrees of freedom with force feedback, an interface-type mechanism for coupling/uncoupling the mobile device to/from the standard device and a control, simulation and analysis software for every hardware configuration of the system.</p> |
