In this paper some possible solutions for interaction with virtual mechanical systems are presented. For the purpose of manipulating and interaction with mechanical systems in a realistic manner various haptic devices can be used. To assess the added value of the interaction the authors conducted a series of experiments involving multimodal interaction. Three possible cases and applications are presented: (i) when the user is interacting with a completely virtual mechanical system – for this a desktop virtual reality system was used including a PHANToM ® haptic device, (ii) when the user is manipulating one element of the mechanical system in a CAVE-like visualization system using the stringbased SPIDAR haptic device, and (iii) when the user is interacting with one part of a mechanism (the mechanical system being composed by one or more real and virtual elements and joints – using augmented reality techniques and see-through featured head mounted display): a crank linked to a torque controlled electrical motor. The research showed the difficulties when trying to interact with a virtual mechanism using haptic feedback
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