Direct interaction methodologies with a large scale haptic feedback

Real hand touch directly 3D image by a large scale haptic. This direct interaction methodologies has been more natural and intuitive interaction. A direct interaction system, include virtual environment and string-driven haptic feedback, has been proposed. Some key technology about hand space position and string tension control are studied. The iterative approach method is proposed to solve the problem of hand space position. Meanwhile, the problem of string tension control is figured out by six space partition method. Within this system, virtual squash enjoy systems has been developed.