A force-feedback supply apparatus and an image correcting method are
provided in which sites to which a force-feedback is supplied can be
properly displayed in accordance with a virtual reality image by
correcting the virtual reality image in consideration of a thickness of a
force-feedback supply section. In the force-feedback supply apparatus and
an image correcting method, joint angles of a force-feedback supply means
when a user's hand and fingers are at a reference posture and at a real
grasp position are detected by means of encoders arranged in joint
sections, positions of the user's fingertips at each posture are
calculated on the basis of the detection data, the joint angles at a
virtual grasp position are calculated, quantity of deviation in the joint
angles between the real grasp position and the virtual grasp position is
calculated, and a conversion rule for correcting the virtual reality
image is determined on the basis of the quantity of deviation.