A new desk-top encounter-type haptic device with an actively driven pen-tablet LCD panel

Motoki Takagi, Jumpei Arata, Akihito Sano, Hideo Fujimoto

Research output: Contribution to journalArticle


In conventional haptic devices for virtual reality (VR) systems, a user interacts with a scene by handling a tool (such as a pen) using a mechanical device (i.e. an end-effector-type haptic device). In the case that the device can mimic a VR object, the user can interact directly with the VR object without the mechanical constraint of a device (i.e. an encounter-type haptic device). A new challenge of an encounter-type haptic device is displaying the visuals and haptic information simultaneously on a single device. We are proposing a new desk-top encounter-type haptic device with an actively driven pen-tablet LCD panel. The proposed device is capable of providing pseudo-3D visuals and haptic information on a single device. As the result, the system provides to the user a sense of interaction with a real object. To develop a proof-of-concept prototype, a compact parallel mechanism was developed and implemented. The aim of this research is to propose a new concept in haptic research. In this paper, the concept, the prototype, and some preliminary evaluation tests with the proposed system are presented.

Original languageEnglish
Pages (from-to)407-415
Number of pages9
JournalAdvanced Robotics
Issue number6
Publication statusPublished - 2013 Apr 1



  • Encounter-type haptic device
  • Haptics
  • Parallel mechanism

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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