The Magic Touch(sm):

Haptic Interaction in Web and non-Web Databases

"Use The Force, Luke!"
Obi-Wan Kenobi, Star Wars: A New Hope, 1977


Iowa State University, Iowa Center for Emerging Manufacturing Technology, Ames, USA

Project Name
ISU Force Reflecting Exoskeleton
Greg R. Luecke (

Project Summary
"The objective of this research is the development of a haptic interface system that allows force interactions with computer-generated virtual reality graphical displays. his system is based on the application of electromagnetic principles to couple the human hand with a robotic manipulator.Using this approach, the forces are transmitted between [ISU Force Reflecting Exoskeleton] and the human without using mechanical attachments to the robot."

"This research includes the development and interfacing of the mechanical hardware, development of a virtual environment for studying real-time interactions, and the generation of computer models for computation of interaction forces between the virtual objects and the human. The new system provides the human user with a unique interface to the computer generated virtual world that will apply computer generated forces to the digits of the human operator's hand according to an arbitrary model residing within the computer program."

Demonstration or Prototype Access
Screen Shots Video


LUECKE, G.R.and CHAI, Y.-H. Contact Sensation in the synthetic environment using the ISU Force Reflecting Exoskeleton. Paper presented at VRIAS'97, the IEEE Virtual Reality Annual Symposium, March 3-5, 1997, Albuquerque, New Mexico, USA.

LUECKE, G.R.and CHAI, Y.-H. Stability and performance comparison of the ISU Force Reflecting Haptic Manipulator. In ICAR'97, Proceedings of the 8th International Conference on Advanced Robotics, July 7-9. 1997, Monterey, California, USA.

LUECKE, G.R.and WINKLER, J. A Magnetic interface for robot-applied virtual forces". Paper presented at the Third Annual Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems , In Dynamic Systems and Control 1994, 1994 International Mechanical Engineering Congress and Exposition, November 6-11, 1994, Chicago, Illinois, USA. [DSC (Series) ; 55]

LUECKE, G.R., CHAI, Y.-H. and EDWARDS, J. C. Force interactions in the synthetic environment using the ISU Force Reflecting Exoskeleton. Computers and Graphics 21(4), July/August 1997,431-442.

LUECKE, G.R., CHAI, Y.-H., WINKLER, J. and EDWARDS, J.C. An Exoskeleton manipulator for application of electro-magnetic virtual forces. Paper presented at Haptic Interfaces for Virtual Environment and Teleoperator Systems 1996, In Proceedings of the ASME Dynamic Systems and Control Division 1996, Winter Annual Meeting of the American Society of Mechanical Engineers, November 21, 1996, Atlanta, Georgia, USA. [DSC (Series) ; 58]


BOMAN, D.K. International survey: virtual environment research. Computer 28(6), June 1992,57-65.

BURDEA, G. Force and Touch Feedback for Virtual Reality. New York, New York, John Wiley & Sons, c1996.

CALDWELL, D.G., LAWTHER, S. and WARDLE, A. Multi-modal cutaneous tactile feedback. In IROS '96: Robotic Intelligence Interacting with Dynamic Worlds, the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, November 4-8, 1996, Osaka, Japan.

MAHONEY, D.P. The Power of touch. Computer Graphics World 20(8), August 1997,41-48.

O'MALLEY, C. The New Internet. Popular Science 251(3), September 1997,60-66.

PAI, D.K. and REISSELL, L.-M. Haptic interactions with multiresolution image curves. Computers and Graphics 21(4), July/August 1997,405-411.

SRINIVASAN, M.A. and BASDOGAN, C. Haptics in virtual environments: taxonomy, research status, and challenges. Computers and Graphics 21(4), July/August 1997,393-404.

sci.virtual-worlds Haptics Frequently Asked Questions (FAQ)
An excellent directory that provides descriptions and links to commericial haptic and virtual environment devices, a compendium of major research centers, online and Web resources, patents, as well as an outstanding bibliography of key citations.

The Magic Touch(sm): Haptic Interaction in Web and non-Web Databases is a clearinghouse of projects, research, products and services that describe or apply Haptic, Tactile, or Kinaesthetic interfaces, displays, or interactive technologies to enhance use and access to Web and selected non-Web databases. Selected significant reports, papers, and articles are also provided for each profiled activity. The clearinghouse is arranged by the name of the university, corporation, or other organization with which the principal investigator of a project is currently, or was formerly, affiliated. A general bibliography of applicable works is also provided.
As time and opportunity permit, additional projects, research, products and services will be profiled within this collection.
The Magic Touch(sm) is compiled and maintained by Gerry McKiernan, A.B., M.S., Curator, CyberStacks(sm), The Big Picture(sm): Visual Browsing in Web and non-Web Databases, and, The Next WAVe(sm): Auditory Browsing in Web and non-Web Databases Iowa State University, Ames, Iowa, and Science and Technology Librarian, Science and Technology Department, Iowa State University Library.

December 19, 1998

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