Three finger force feedback master

Date of Publication


Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Computer Science


College of Computer Studies


Computer Science


Awarded as best thesis, 2002

Defense Panel Chair

Clemente Y. Ong

Defense Panel Member

Gregory C. Cu
Eufemio Barcelon
Florante R. Salvador


Force feedback can be defined as the sensation of weight or resistance in a virtual world. The usefulness and realism of present generation human-controlled robotic arms is hampered by a lack of force feedback to the user. However, force feedback devices enable users to perceive the gravity, resistance, and other forces that are exerted or experienced by the objects and its surroundings. These systems are more effective in making human interactions with an external environment more realistic. An effective force feedback system requires a device, which produces a force on the part of the human body that is in contact with it. This force is equivalent to that of the real object. It allows a person separated from the object by some geographical distance to still feel the object and its weight. This thesis includes a user controlled robot or the master unit, a master controlled program to control the unit, sensory data and instruction communication with protocols and a three-dimensional simulation program that replicates the robotic master's motion. It is capable of producing force feedback at the master unit in accordance to how the user interacts with the simulated environment. The system produces a maximum force of magnitude 4.5 N, with minimal delay of about 20 ms. and can successfully produce perceivable force feedback of various levels in order to simulate some physical characteristics of specimen virtual objects as well as gravitational force acting on them.

Abstract Format






Accession Number


Shelf Location

Archives, The Learning Commons, 12F Henry Sy Sr. Hall

Physical Description

1 volume (various foliations) ; 28 cm.


Human-computer interaction; Robots--Control systems; Virtual reality

This document is currently not available here.