Real time stiffness display interface device for perception of virtual soft object

A novel method based on deformable length of elastic element control (DLEEC) to realize the stiffness display for perception of virtual soft object is proposed, and the stiffness display interface device has been developed and is presented. The stiffness display interface device is composed of a thin elastic beam and an actuator to adjust the length of the beam. The deformation of the beam under a force is proportional to the third power of the beam length. By controlling the beam length, the stiffness display device can reproduce the stiffness of the virtual object from very soft to hard, so that the human fingertip can feel it as if he directly touches with the virtual object by interacting with the device. A real time position control algorithm is employed to guarantee the real time stiffness display.