Hi CHAI3D team,

I'm using CHAI3D together with novint falcon in Windows 10. I was just doing some really simple force rendering to generate a force to the vertical axis using cVector3d force(0, 0, -((weight/1000)*gravity_acceleration)). However, the force feedbacck is way weaker than the actual input. Following are the data I measured using a digital scale:

Input Actual
100. 68
200. 79
300. 124
400. 157
500. 216
600. 283
700. 297
800. 337
900. 381

Any thoughts about this? Please help.

The Falcon haptic device has unfortunately limited rendering capabilities. Given the problems coming from friction and the limited capabilities of the actuators, it is difficult to apply exact desired force. Since humans are more sensitive to force variations than force magnitudes, the Novint Falcon does a pretty decent job for rendering shapes and textures. However controlling the exact output force is a different problem and you are much better off using a haptic device like the omega.