This paper proposes a multisensory virtual reality(VR) system which can provide users with senses of vision, audition and force.

建立了一个基于视觉、听觉和力觉融合的多感知虚拟现实系统。

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With the rapid development of virtual reality technique, this system will reach its ideal result, that is vision telepresence and tactile telepresence without time delay.

伴随着虚拟现实技术的飞速发展，该系统要达到的理想状态是使操作者获得无延时的视觉和触觉临场感。

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Utilizing this virtual reality system combined with vision and force feedback, some teleoperation tasks, such as pushing button, pulling drawer and grasping bulb, have been accomplished.

利用该虚拟现实系统，结合视觉反馈和力反馈，完成了按按钮、拉抽屉、抓握灯泡等遥操作任务。

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