Development of a wearable pseudo-six-degree-of-freedom force display system

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Towards direct multi-fingered manipulation in virtual environment, a wearable pseudo-six-degree-of-freedom force display system has been developed, which displays normal and tangential forces to fingertips as well as torque to hand by controlling the magnitude and the position of vibrotactile phantom sensation. A novel haptic rendering algorithm designed for wearable force display system, which does not have an ability to physically restrain the user motion, has also been proposed and demonstrated the feasibility of virtual manipulation without visual information.