Phantom-based haptic interaction with virtual objects

In 1993, haptic interaction with computers took a significant step forward with the development of the Phantom haptic interface. This simple device has spawned a new field analogous to computer graphics-computer haptics-defined as the discipline concerned with the techniques and processes associated with generating and displaying synthesized haptic stimuli to the human user. Inspired by the authors' previous work in interpreting robot touch sensor information and study of human touch perception, the Phantom interface permits users to feel the forces of interaction they would encounter while touching objects with the end of a stylus or the tip of their finger. The resulting sensations prove startling, and many first-time users are quite surprised at the compelling sense of physical presence they encounter when touching virtual objects. To appreciate why the Phantom system succeeded where others failed, you need to understand the nature and functioning of the human haptic system.