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Realtime Contact System for Displaying Real Environment


This study developed a system for displaying the shape of a remote object by virtually touching it using (modality transformation between visual and haptic information).

The action of this system is shown in the followings. Images obtained by an active vision are processed in a parallel processing system and sent to a DSP system. The DSP system transforms the processed image to virtual force from the surface of the object. A force display device exerts the calculated force on a real fingertip.

In general, a few hundred of bandwidth is required in order to supply a sufficient tactile information to a human being. This frequency is much larger than the video rate (30Hz). In this study, the feedback of the system can be performed about 200Hz by using the high-speed vision system proposed by our laboratory.

virtual haptic system



  1. T. Owaki, Y. Nakabo, A. Namiki. I. Ishii and M. Ishikawa: Realtime System for Displaying Real Environment with Modality Transformation between Visual and Haptic Information, Proceeding of VRSJ the 2nd Annual Conference, pp. 151-154, 1997.
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