1. 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): doi: /
Figure Legend:
Haption Virtuose™ 6D35-45 in a large workspace virtual environment

2. 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): doi: /
Figure Legend:
Wire-frame workspace display in virtual assembly application SPARTA

3. 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): doi: /
Figure Legend:
Conceptual view of the virtual coupler

4. 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): doi: /
Figure Legend:
Grasping object while moving bubble

5. 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): doi: /
Figure Legend:
Colliding objects while moving bubble

6. 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): doi: /
Figure Legend:
Handle returns within bubble

7. 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): doi: /
Figure Legend:
Control laws as investigated