| |
| |
| Preface | |
| |
| |
| |
| Introduction to Haptics | |
| |
| |
| Haptic Devices | |
| |
| |
| Representative Applications of Haptics | |
| |
| |
| Surgical Simulation and Medical Training | |
| |
| |
| Museum Display | |
| |
| |
| Painting, Sculpting, and CAD | |
| |
| |
| Visualization | |
| |
| |
| Military Applications | |
| |
| |
| Interaction Techniques | |
| |
| |
| Assistive Technology for the Blind and Visually Impaired | |
| |
| |
| Issues in Haptic Rendering | |
| |
| |
| Acquisition of Models | |
| |
| |
| Latency | |
| |
| |
| Contact Detection | |
| |
| |
| Force Feedback | |
| |
| |
| Capture, Storage, and Retrieval of Haptic Data | |
| |
| |
| Haptic Data Compression | |
| |
| |
| Haptic Collaboration | |
| |
| |
| Human Factors | |
| |
| |
| Human Haptics | |
| |
| |
| Machine Haptics | |
| |
| |
| References | |
| |
| |
| |
| Simulation with Contact for Haptic Interaction | |
| |
| |
| Haptic Rendering | |
| |
| |
| Dynamic Motion Models | |
| |
| |
| Contact Space | |
| |
| |
| Impulse Force Resolution | |
| |
| |
| Collision Model | |
| |
| |
| Finding the Impulse Constraint Equations | |
| |
| |
| Collision Analysis | |
| |
| |
| Contact Force Resolution | |
| |
| |
| Combining Haptic and Dynamic Environments | |
| |
| |
| Conclusions | |
| |
| |
| References | |
| |
| |
| |
| Stable Control of Haptics | |
| |
| |
| Overview | |
| |
| |
| History of Haptics | |
| |
| |
| State-of-the-Art in Control of Haptics | |
| |
| |
| Control of Haptics using Time Domain Definition of Passivity | |
| |
| |
| Passivity Observer | |
| |
| |
| Passivity Controller | |
| |
| |
| Implementation Issue for Stable High Performance Control | |
| |
| |
| Dissipation "Buildup" | |
| |
| |
| Force Threshold and Duration | |
| |
| |
| Experimental Results | |
| |
| |
| Delayed Environment | |
| |
| |
| Contact with High Stiffness | |
| |
| |
| Future Research Challenges | |
| |
| |
| Estimation of Human Factor | |
| |
| |
| Hybrid Form of the Passivity Control | |
| |
| |
| Conclusion | |
| |
| |
| References | |
| |
| |
| |
| Hardware for Improved Haptic Interface Performance | |
| |
| |
| Rationale | |
| |
| |
| Background | |
| |
| |
| Enhanced Displacement Measurement Resolution | |
| |
| |
| Optical Encoders | |
| |
| |
| Sinusoidal Encoder Interpolation | |
| |
| |
| Practical Resolution Considerations | |
| |
| |
| Implementation | |
| |
| |
| Sinusoidal Encoder Interpolation Bandwidth | |
| |
| |
| Preliminary Interpolation Performance | |
| |
| |
| Torque Ripple Elimination | |
| |
| |
| Permanent Magnet Motor Basics | |
| |
| |
| Brushless Motor Commutation | |
| |
| |
| Sinusoidal Commutation Implementation | |
| |
| |
| Conclusion | |
| |
| |
| Appendix | |
| |
| |
| Three-Phase Motor Torque | |
| |
| |
| Three-Phase Winding Currents | |
| |
| |
| Sinusoidal Three-Phase Currents and Torque | |
| |
| |
| Acknowledgment | |
| |
| |
| References | |
| |
| |
| |
| Six-Degrees-of-Freedom Haptic Visualization | |
| |
| |
| Previous Work | |
| |
| |
| Haptic Display | |
| |
| |
| Contact Determination | |
| |
| |
| Collision Response | |
| |
| |
| Overview | |
| |
| |
| Preliminaries | |
| |
| |
| 6 DOF Haptic Rendering with A Virtual Proxy | |
| |
| |
| Haptic Rendering of Polygonal Objects | |
| |
| |
| Contact Manifold and Depth Estimation | |
| |
| |
| Contact Forces and Torques | |
| |
| |
| Force and Torque Interpolation | |
| |
| |
| 6-DOF Haptic Visualization of Volumetric Data-sets | |
| |
| |
| Uniformly Sampled Force-fields | |
| |
| |
| Non-uniformly Sampled Force-fields | |
| |
| |
| Force-fields defined by Functions | |
| |
| |
| System Implementation and Performance | |
| |
| |
| Implementation | |
| |
| |
| System Demonstration | |
| |
| |
| Discussion | |
| |
| |
| Conclusions and Future Work | |
| |
| |
| Acknowledgments | |
| |
| |
| References | |
| |
| |
| |
| Lossy Compression of Haptic Data | |
| |
| |
| Haptic Data | |
| |
| |
| Haptic Systems | |
| |
| |
| The PHANToM Device and GHOST Library | |
| |
| |
| Haptic Data Encoder Requirements | |
| |
| |
| Low-Delay Predictive Coding | |
| |
| |
| Model-Based Coding | |
| |
| |
| Experimental Results, Conclusions, and Future Work | |
| |
| |
| Appendix | |
| |
| |
| Acknowledgments | |
| |
| |
| References | |
| |
| |
| |
| A Robust System for Haptic Collaboration over the Network | |
| |
| |
| Haptics over a Network | |
| |
| |
| Proposal for a Haptic Communication System | |
| |
| |
| Outline of System | |
| |
| |
| System Details | |
| |
| |
| Experiment on QoS Measurement | |
| |
| |
| Subjective Assessment of Haptic Interface | |
| |
| |
| Evaluation of System | |
| |
| |
| Experimental Results | |
| |
| |
| Conclusion | |
| |
| |
| Acknowledgment | |
| |
| |
| References | |
| |
| |
| |
| Haptic Collaboration over the Internet | |
| |
| |
| Virtual Haptic World | |
| |
| |
| Database Synchronization | |
| |
| |
| Local Groups | |
| |
| |
| Conclusions and Future Work | |
| |
| |
| Acknowledgment | |
| |
| |
| References | |
| |
| |
| |
| Perceiving Complex Virtual Scenes without Visual Guidance | |
| |
| |
| Number and Size of Areas of Haptic Contact | |
| |
| |
| Perception of Texture | |
| |
| |
| Perception of 3D Form | |
| |
| |
| Effects of Size of Object | |
| |
| |
| Complexity of the Rendered Scene | |
| |
| |
| Performance Improvement Through Practice | |
| |
| |
| Simplification of Complex Scenes | |
| |
| |
| Nonrealistic Haptic Rendering | |
| |
| |
| Haptic Rendering and Successively Increasing Complexity | |
| |
| |
| Discussion | |
| |
| |
| References | |
| |
| |
| |
| Perceiving Texture through a Probe | |
| |
| |
| Models of Roughness Perception from Direct Skin Contact | |
| |
| |
| Roughness Perception Through a Probe | |
| |
| |
| Psychophysical Research on Roughness Perception Through a Probe | |
| |
| |
| Effects of Probe Size | |
| |
| |
| Effects of Exploration Speed | |
| |
| |
| Effects of Force | |
| |
| |
| Conclusions and Future Directions | |
| |
| |
| References | |
| |
| |
| |
| Haptic and Auditory Display in Multimodal Information Systems | |
| |
| |
| Related Literature | |
| |
| |
| Experiment I | |
| |
| |
| Experimental Design | |
| |
| |
| Experimental Procedure | |
| |
| |
| Subjects | |
| |
| |
| Variables | |
| |
| |
| Results | |
| |
| |
| Discussion | |
| |
| |
| Experiment II | |
| |
| |
| Experimental Design | |
| |
| |
| Experimental Procedure | |
| |
| |
| Subjects | |
| |
| |
| Results | |
| |
| |
| Future Research | |
| |
| |
| References | |
| |
| |
| |
| Detection Thresholds for Small Haptic Effects | |
| |
| |
| Methods | |
| |
| |
| Haptic Effects | |
| |
| |
| Adaptive Thresholding | |
| |
| |
| Experimental Procedure | |
| |
| |
| Results | |
| |
| |
| |
| Active Exportation | |
| |
| |
| |
| Static Force Pulses | |
| |
| |
| |
| Device Friction | |
| |
| |
| Discussion | |
| |
| |
| Acknowledgment | |
| |
| |
| References | |
| |
| |
| |
| Haptic Interfaces to Real and Virtual Surgical Environments | |
| |
| |
| Haptic Interfacing to Real and Virtual Surgical Environments | |
| |
| |
| The UC Berkeley/UC San Francisco Robotic Telesurgical System | |
| |
| |
| Telesurgical System Concept | |
| |
| |
| Description of the System | |
| |
| |
| Bilateral Teleoperation Controller Design for Telesurgical Systems | |
| |
| |
| The Training Simulator for Minimally Invasive Surgery | |
| |
| |
| Surgical Simulator Concept | |
| |
| |
| Laparoscopic Simulation Testbed | |
| |
| |
| Multirate Simulation for High Fidelity Haptic Interaction with Deformable Objects in Virtual Environments | |
| |
| |
| Conclusion | |
| |
| |
| Acknowledgments | |
| |
| |
| References | |
| |
| |
| |
| Understanding of User Behavior in Immersive Environments | |
| |
| |
| Data Acquisition | |
| |
| |
| Sampling Techniques | |
| |
| |
| Classification Methods | |
| |
| |
| C4.5 Decision Tree | |
| |
| |
| Bayesian Classification | |
| |
| |
| Neural Networks | |
| |
| |
| Performance Evaluation | |
| |
| |
| Experimental Setup | |
| |
| |
| Storage of the Input | |
| |
| |
| Results | |
| |
| |
| Analysis | |
| |
| |
| Related Work | |
| |
| |
| Conclusion and Future Work | |
| |
| |
| Acknowledgments | |
| |
| |
| References | |
| |
| |
| |
| A Haptic Exhibition of Daguerreotype Cases for USC's Fisher Gallery | |
| |
| |
| Haptics for the Museum | |
| |
| |
| Lost and Found: A Haptic Exhibition for USC's Fisher Gallery | |
| |
| |
| Issues in the Acquisition of Three-Dimensional Objects for Museum Display | |
| |
| |
| Acknowledgments | |
| |
| |
| References | |
| |
| |
| Index | |
| |
| |
| The Editors | |