Development of new force feedback interface for two-handed 6DOF manipulation SPIDAR-G&G system

In this paper, we developed a new haptic interface SPIDAR-G&G system to take advantage of the user's existing two hands skills for completing the continuous and compound task in a virtual world. A user cannot only manipulate the 3D objects with 6DOF translational and rotational motion by using the grip which located in the workspace of two frames, but also get the 6DOF force feedback, 3DOF for translation force, 3DOF for rotation force. We demonstrate the configuration of our system, also introduce the grip's position and orientation algorithm , and 6DOF force displaying method. Experiment results show that our system can offer direct two-handed 6DOF manipulation for virtual environment via the sense of touch.