This paper reports a novel haptic interface to provide haptic feedback during endoscopy simulation. The proposed haptic interface combines two independent mechanisms to provide two decoupled degrees-of-freedom in the translational and the rotational directions. Effects of the apparent inertia–mass and apparent friction to the user's hand are measured in the form of resistive force and torque. The forces and torques that can be manifested by the developed haptic interface are compared with the exerted force data during actual endoscopy.
A visual/haptic interface to virtual environment (WYSIWYF display) and its application