The paper describes a desktop-haptic interface (DHI) that has been conceived to support designers in the evaluation and modification of aesthetic virtual shapes. The objective in designing this device is to reproduce a 2D cross-section of virtual objects with a consistent physical rendering well adapted to designers needs allowing a continuous and smoothly free hand contact interaction on a real and developable metallic strip. The desktop-haptic interface consists in a servo-actuated metallic strip that has been devised and implemented by using the Minimal Energy Curve (MEC) spline approach in which the equidistant interpolation points scheme has been adopted for modeling the structure chain consisting of several rigid struts and pivots. Then, we present the co-simulation between the multi-body environment and MATLAB/Simulink used for achieving this goal and control the system and finally, we present the results of the experimental validation session specifically carried out to evaluate the accuracy and the effectiveness of the interface.

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