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A novel compact hand master device with force feedback is presented. The Second Generation Rutgers Master (RM-II) integrates position-sensing and force-feedback to multiple fingers in a single structure, without the use of sensing gloves. The paper first discusses the kinematics and calibration followed by the integration of the device into a single-user, ethernet-distributed, virtual reality (VR) environment. The VR simulation features: visual feedback, force feedback, interactive sound and object interaction.
Gómez et al. (2002) studied this question.