Designing a human-scale virtual environment with haptic feedback for direct interaction

This paper studies the problem of the direct interaction between operator and 3D virtual image, and proposes a direct interaction system that includes a virtual environment and a string-driven haptic feedback device. Some key techniques, such as the registration of virtual space and real space, the hand space positioning and the string tension control, are studied. The coordinate unification of virtual space and real space is achieved using the specific point method. The iterative approach method is proposed to solve the problem of hand space positioning. Meanwhile, the problem of string tension control is figured out by the sub-space partition method. Based on the proposed interaction system, the design of a virtual squash enjoy system is given. The experimental data prove that the direct interaction system has the more natural and intuitive performance than an indirect interaction system.