Seeing by drawing: use of a force-feedback device for conveying basic geometric visual information

In this paper, the problem of using a force-feedback device to display basic geometric information is considered. Two visual-haptic transformation methods are applied to display geometric-shape properties by a point-contact force-reflective device. With the first method, movement of a user´s finger tip, attached to a force-feedback device´s thimble, is limited to points on a contour representing an outline of the (1-D or 2-D) geometric shape under display. In the second method, a drawing force is applied to a thimble, to move a user´s finger along the contour corresponding to the displayed shape. Drawing speed is adjusted to reflect some properties of the displayed data curve, such as evolution of its first or second derivatives over time or spatial reference axis. Implementation aspects of the two methods are discussed. Efficiency of the described haptic display methods has been investigated through experiments with basic geometric outline shapes and scientific data