Using haptic manipulator in a virtual design studio

In this research, we designed and constructed a 5-axis motion with 3-axis force feedback manipulator as an open loop I/O device to use in three-dimensional virtual environments. The manipulator features five encoders to obtain the stylus position and orientation. In order to augment the visual output, the manipulator is equipped with three motors to provide a corresponded reaction force at the moment of colliding with virtual objects in the virtual environment. The research is carried out by four phases: design and construction of the haptic manipulator, virtual design studio creation, collision detection algorithms, and contact force model generation.