  During the design phase of products and before going into production, it is
necessary to verify the presence of mechanical plays, tolerances, and
encumbrances on production mockups. This work introduces a multi-modal system
that allows verifying assembly procedures of products in Virtual Reality
starting directly from CAD models. Thus leveraging the costs and speeding up
the assessment phase in product design. For this purpose, the design of a novel
6-DOF Haptic device is presented. The achieved performance of the system has
been validated in a demonstration scenario employing state-of-the-art
volumetric rendering of interaction forces together with a stereoscopic
visualization setup.

Robotics