Haptic devices allow a high level of immersion in virtual environments by providing the sense of touch. We present a two-finger device that allows the performance of power and precision tasks in virtual environments. We have also developed a mathematical model of the human hand and a statistical procedure to identify different hand gestures. Both have been implemented in the virtual environment in order to have a mathematical model of haptic interactions, which runs in real time so as to provide contact forces and object movements depending on the manipulation commands received from the haptic device.
['María Inés Oyarzabal', 'Manuel Ferre', 'Salvador Cobos', 'Mary Monroy', 'Jordi Barrio', 'Javier Ortego']
Multi-finger haptic interface for collaborative tasks in virtual environments