JRM Vol.9 No.3 pp. 177-184
doi: 10.20965/jrm.1997.p0177


Space Interface Device for Artificial Reality – SPIDAR –

Makoto Sato, Yukihiro Hirata and Hiroshi Kawarada

Precision and Intelligent Laboratory, Tokyo Institute of Technology, 4259, Nagatsuda, Midori-ku, Yokohama-shi, 226 Japan

December 4, 1996
January 24, 1997
June 20, 1997
Virtual reality, human interface, force display, direct manipulation, virtual environment

In order to realize a human interface for the efficient modeling of three-dimensional shapes over the computer, it is necessary to create an environment in which shape models can be manipulated in the same way as their actual three-dimensional objects. Such an environment is called a virtual work space. In case that a human manipulates an object with his or her own hands, that person unconsciously uses the sensations, such as those of sight, touch, and force. In order to compose a virtual work space, it is important that information on such sensations be given comprehensively to a human. Moreover, it is necessary that all this information be generated artificially through computer processing. On the basis of these observations, the present paper newly proposes a space interface device SPIDAR as an input/output device necessary for composing a virtual work space. This device can not only obtain information on the positions of end-effectors but also provide information concerning the sensation of force to the end-effectors. Furthermore, an experiment is carried out for investigating the effect of information concerning the sensation of force on the direct manipulability of three-dimensional shapes in this virtual work space, and its effectiveness is verified.

Cite this article as:
Makoto Sato, Yukihiro Hirata, and Hiroshi Kawarada, “Space Interface Device for Artificial Reality – SPIDAR –,” J. Robot. Mechatron., Vol.9, No.3, pp. 177-184, 1997.
Data files:

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 05, 2021