Development Interface for creative design environment with haptic sensation

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We have been developing a new type of haptic device in order to manipulate virtual objects. The name of the device is called SPIDAR, which provide not only pointing capabilities of user, fingertips but also displaying arbitrary force sensation at the top of the correspondent fingertip. Combining this haptic device with a real-time graphic display, we can construct multi-modal virtual environments.In the research project, we have developed a flexible design supporting system based on the above haptic virtual environment. The proposed design system is composed with the following subsystems :1. Free-form shape design supporting processor subsystem,2. Management subsystem of 3D free-from shape modelers,3. Shape processing subsystem for free-form design,4. Input subsystem for free-form shape.Basic requirements for these subsystems have been made clear. Based on these requirements, we have designed the basic structure of the virtual environment and the interface environment. The effectiveness of the developed system is clarified by experiments of shape design.