The development of a pen-based force display and its application to the direct manipulation of a free-form surface are described. A six degree-of-freedom force reflective master manipulator which has a pen-shaped grip has been developed. The system uses two three degree-of-freedom manipulators. Both ends of the pen are connected to these manipulators. The hardware of the force display is small and light-weight. The performance of the force display is exemplified in interactive deformation of a free-form surface. >
['Hiroo Iwata']
Pen-based haptic virtual environment