Adding Force Feedback to Graphics Systems: Issues and Solutions
5
William R. Mark
Scott C. Randolph
Mark Finch
James M. Van Verth
Russell M. Taylor II
Computer Graphics Proceedings, Annual Conference Series, 1996, ACM SIGGRAPH, pp. 447-452.
1996 ACM
http://www.cs.unc.edu/~billmark/SIG96paper.ps
Integrating force feedback with a complete real-time virtual
environment system presents problems which are more difficult than
those encountered in building simpler force-feedback systems.  In
particular, lengthly computations for graphics or simulation require a
decoupling of the haptic servo loop from the main application loop if
high-quality forces are to be produced.  We present some approaches to
these problems and describe our force-feedback software library which
implements these techniques and provides other benefits including
haptic-textured surfaces, device independence, distributed operation
and easy enhancement.