Object grasping in virtual environment using dynamic force simulator

Realizes force feedback with the dynamic force simulator (DFS) that the authors proposed previously. DFS simulates object dynamics, contact model and friction characteristics of human hand interacting object in virtual reality. After derivation of kinematic and force relations between hand and object space the authors realize desired feedback forces to human operator. Interaction with DFS allows the calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove the authors have developed