Observations on and modifications to the Rutgers Master to support a mixture of passive haptics and active force feedback

We are researching the use of haptic feedback during user interactions with a virtual control panel. One approach we consider is a combination of passive haptics and active force feedback. We use a static panel for the passive component and a Rutgers Master system for the active component. This mixed approach requires higher spatial accuracy and haptic quality than has been required by previous applications of force-feedback gloves. We relate the capabilities and limitations of the device to the requirements of our approach and describe a number of developments that result in a successful mix of passive haptics and active force feedback. These are useful for other applications of the device, and some can be generalized to other equipment.