Fundamentals of Wearable Computers and Augmented Reality, 2nd Edition

247Haptic Augmented Reality

f

T

(t) can be expressed as a function of the distance between the inclusion and the tool

tip. Let the distance from p

H

(t) to p

T

(t) be l

HT

(t), and the initial distance from p

Ts

to

p

T0

be l

0

. Then, the difference, l(t) = l

0

−l

HT

(t), becomes a relative displacement toward

the inclusion. By using the data triples

(,, )ll f

T



, a new response model with respect

to l(t) can be derived, which is denoted as

H ll

T

(, )



. This represents the inclusion-only

force response at the single contact point p

Ts

, poking into the direction of p

T

.

In the second step, the inclusion movement in response to external forces is char-

acterized. N ...