Research on realization of the active coupling by the biofeedback of the user

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In this research, I propose a system for high definition wire driven haptic display. There is a problem that when we display very stiff virtual wall, the virtual wall may become active. In order to solve it, we measure grasp force of user and control the virtual coupling coefficient to reduce the energy which the virtual coupling makes. When we use haptic display, dynamics of our fingers and arm always change and adjust with virtual object. Therefore, in this study, we define bio-feedback which use human dynamics for adapting world. We improve stability and fidelity of haptic display with bio-feedback.