Virtual Reality

, Volume 10, Issue 1, pp 11–23 | Cite as

A mobile platform for haptic grasping in large environments

  • Maurizio de Pascale
  • Allesandro Formaglio
  • Domenico Prattichizzo
Original Article


This paper presents methodologies and technologies that are exploited to design and implement the mobile haptic grasper (MHG), i.e. an integrated system consisting of a mobile robot and two grounded haptic devices (HD) fixed on it. This system features two-point contact kinaesthetic interactions while guaranteeing full user’s locomotion in large virtual environment. The workspace of haptic interaction is indefinitely extended, and this is extremely relevant for applications such as virtual grasping, where the global workspace is typically reduced with respect to those of the single-point contact devices. Regarding software architecture, we present the Haptik Library, an open source library developed at the University of Siena which allows to uniformly access HD, that has been used to implement the MHG software.


Haptics Grasping Mobile robotics 


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Copyright information

© Springer-Verlag London Limited 2006

Authors and Affiliations

  • Maurizio de Pascale
    • 1
  • Allesandro Formaglio
    • 1
  • Domenico Prattichizzo
    • 1
  1. 1.Department of Information EngineeringUniversity of SienaSienaItaly

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