Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique J. Comput. Inf. Sci. Eng. 2015;15(4):041006-041006-7. doi:10.1115/1.4031826 Figure Legend: Haption Virtuose™ 6D35-45 in a large workspace virtual environment
Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique J. Comput. Inf. Sci. Eng. 2015;15(4):041006-041006-7. doi:10.1115/1.4031826 Figure Legend: Wire-frame workspace display in virtual assembly application SPARTA
Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique J. Comput. Inf. Sci. Eng. 2015;15(4):041006-041006-7. doi:10.1115/1.4031826 Figure Legend: Conceptual view of the virtual coupler
Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique J. Comput. Inf. Sci. Eng. 2015;15(4):041006-041006-7. doi:10.1115/1.4031826 Figure Legend: Grasping object while moving bubble
Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique J. Comput. Inf. Sci. Eng. 2015;15(4):041006-041006-7. doi:10.1115/1.4031826 Figure Legend: Colliding objects while moving bubble
Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique J. Comput. Inf. Sci. Eng. 2015;15(4):041006-041006-7. doi:10.1115/1.4031826 Figure Legend: Handle returns within bubble
Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique J. Comput. Inf. Sci. Eng. 2015;15(4):041006-041006-7. doi:10.1115/1.4031826 Figure Legend: Control laws as investigated