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3DOF Multitouch Haptic Interface with Movable Touchscreen

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Part of the Lecture Notes in Electrical Engineering book series (LNEE,volume 432)


This paper reports on the development of a multitouch haptic interface equipped with a movable touchscreen. When the relative position of two of a user’s fingertips is fixed on a touchscreen, the fingers can be considered a hand-shaped rigid object. In such situations, a reaction force can be exerted on each finger using a three degrees of freedom (3DOF) haptic interface. In this study, a prototype 3DOF haptic interface system comprising a touchscreen, a 6-axis force sensor, an X-Y stage, and a capstan drive system was developed. The developed system estimates the input force from fingers using sensor data and each finger’s position. Further, the system generates reaction forces from virtual objects to the user’s fingertips by controlling the static frictional force between each of the user’s fingertips and the screen. The system enables users to perceive the shape of two-dimensional virtual objects displayed on the screen and translate/rotate them with their fingers. Moreover, users can deform elastic virtual objects, and feel their rigidity.


  • Virtual reality
  • Haptic interface
  • Shearing force
  • Multitouch

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  • DOI: 10.1007/978-981-10-4157-0_9
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Correspondence to Shun Takanaka .

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Takanaka, S., Yano, H., Iwata, H. (2018). 3DOF Multitouch Haptic Interface with Movable Touchscreen. In: Hasegawa, S., Konyo, M., Kyung, KU., Nojima, T., Kajimoto, H. (eds) Haptic Interaction. AsiaHaptics 2016. Lecture Notes in Electrical Engineering, vol 432. Springer, Singapore.

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  • Print ISBN: 978-981-10-4156-3

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