The Museum of Pure Form

Haptics

The haptic interface devised for the MPF system is an exoskeleton for force feedback on the upper limb integrated with a haptic interface for fingers. Upper limb exoskeleton refers to a robotic structure with an anthropomorphic kinematic which is able to replicate the movements of the human arm faithfully and such as to be worn by the operator on his/her arm. Moreover, the exoskeleton is able to exert control forces on the contact points with the operator arm according to the state of the simulation, so as to prevent its movements in case it should come into contact with a virtual object.

The haptic interface for fingers, being mounted on the end part of the exoskeleton, is able to exert an arbitrary force of direction and breadth on the fingers tips. In particular, the forces generated during the contact with sculptures will be transmitted to the operator by means of two thimbles placed on the tips of forefinger and thumb.

	The haptic interface subsystem is used in order to apply the contact forces between the virtual hand and the virtual sculpture on the hand of the operator.