The Haptic Revolver, also known as the Haptic Wheel, uses an actuated wheel that moves up and down to render touch contact with a virtual surface and spins to render shear forces and motion as the user slides along a vir¬tual surface. The controller is designed so that the index finger rests in a groove along the wheel’s axis. When a user touches a virtual surface, the wheel rises to contact the fingertip, its rotation simulating the friction of the fingertip with the virtual surface based on the
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