Answers are grounded in this paper and cite their sources.
The development of a pen-based force display and its application to the direct manipulation of a free-form surface are described. A six degree-of-freedom force reflective master manipulator which has a pen-shaped grip has been developed. The system uses two three degree-of-freedom manipulators. Both ends of the pen are connected to these manipulators. The hardware of the force display is small and light-weight. The performance of the force display is exemplified in interactive deformation of a free-form surface.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
No takes yet. Share an insight, caveat, or question.
Hiroo Iwata (2002) studied this question.