A new kind of force-reflecting device and its control

This paper introduces a new kind of force-reflecting device used in VR simulations. With a compact and adjustable structure, it could be fixed on almost every operator´s fingers. The forces exerted on the operator´s fingers by it could maximize the sense of immersion in a virtual environment. An improved proportional electromagnet, instead of motor, is used as the actuator of this device. A hybrid controller is, applied to the force control. The tasks of control and communication between VR system and force feedback device are carried by a single digital signal processor (TMS320LF2407DSP), so the DSP-based embedded system could provide a high performance and low cost solution for the VR applications.