Haptics For Virtual Reality And Teleoperation

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Haptics For Virtual Reality And Teleoperation

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Author : Matjaž Mihelj
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-14

Haptics For Virtual Reality And Teleoperation written by Matjaž Mihelj and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-14 with Technology & Engineering categories.

This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation. The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. Only a careful selection of different kinematic configurations is shown to introduce the reader into this field. Mathematical models of virtual environment, collision detection and force rendering topics are strongly interrelated and are described in the next two chapters. The interaction with the virtual environment is simulated with a haptic interface. Impedance and admittance based approaches to haptic robot control are presented. Stability issues of haptic interaction are analyzed in details and solutions are proposed for guaranteeing stable and safe operation. Finally, haptic interaction is extended to teleoperation systems. Virtual fixtures which improve the teleoperation and human-robot cooperation in complex environments are covered next and the last chapter presents nanomanipulation as one specific example of teleoperation.

Haptics For Teleoperated Surgical Robotic Systems

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Author : Mahdi Tavakoli
language : en
Publisher: World Scientific
Release Date : 2008-04-14

Haptics For Teleoperated Surgical Robotic Systems written by Mahdi Tavakoli and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-04-14 with Technology & Engineering categories.

An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance.

The Tactile Internet

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Author : Tara Ali-Yahiya
language : en
Publisher: John Wiley & Sons
Release Date : 2021-12-01

The Tactile Internet written by Tara Ali-Yahiya and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-12-01 with Computers categories.

The Tactile Internet will change the landscape of communication by introducing a new paradigm that enables the remote delivery of haptic data. This book answers the many questions surrounding the Tactile Internet, including its reference architecture and adapted compression methods for conveying haptic information. It also describes the key enablers for deploying the applications of the Tactile Internet. As an antecedent technology, the IoT is tackled, explaining the differences and similarities between the Tactile Internet, the Internet of Things and the Internet of Everything. The essentials of teleoperation systems are summarized and the challenges that face this paradigm in its implementation and deployment are also discussed. Finally, a teleoperation case study demonstrating an application of the Tactile Internet is investigated to demonstrate its functionalities, architecture and performance.

Haptics Science Technology And Applications

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Author : Domenico Prattichizzo
language : en
Publisher: Springer
Release Date : 2018-06-04

Haptics Science Technology And Applications written by Domenico Prattichizzo and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-06-04 with Computers categories.

The two-volume set LNCS 10893 and 10894 constitutes the refereed proceedings of the 11th International Conference EuroHaptics 2018, held in Pisa, Italy, in June 2018. The 95 papers (40 oral presentations and 554 poster presentations) presented were carefully reviewed and selected from 138 submissions. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover all aspects of haptics, including neuroscience, psychophysics, perception, engineering, computing, interaction, virtual reality and arts. ​

Haptic Teleoperation Systems

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Author : Jae-young Lee
language : en
Publisher: Springer
Release Date : 2015-06-30

Haptic Teleoperation Systems written by Jae-young Lee and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-06-30 with Technology & Engineering categories.

This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction.

Control Design For Haptic Systems

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Author : Suyong Kim
language : en
Publisher: Springer Nature
Release Date : 2024-01-31

Control Design For Haptic Systems written by Suyong Kim and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-01-31 with Technology & Engineering categories.

This book aims at the upper-class undergraduate and the graduate students, and practicing engineers in the disciplines of mechanical, electrical, and computer engineering, with background knowledge of control. This book, first, explains the components of the haptic systems that are gaining popularity in the virtual reality simulations, the metaverse applications, as well as the remotely operated robotic systems. Next, the book introduces the previous and current widely-adopted methods for modeling and control of the haptic systems. The important metrics of performance such as stability and transparency of the haptic systems are explained and analyzed. Shortcomings of the current methods are discussed using these metrics. The book, then, explains the theories on the input-to-state stability (ISS), and shows how to formulate the control of haptic systems into the ISS framework. Step by step process of control design using the formulation is detailed, and better results are shown with experiment examples. The book develops further the presented approach to secure improved performance under selected issues. For example, better transparency of the haptic rendering, and handling of constant or time-varying time delay present in the haptic control systems.

Cutaneous Haptic Feedback In Robotic Teleoperation

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Author : Claudio Pacchierotti
language : en
Publisher: Springer
Release Date : 2015-11-06

Cutaneous Haptic Feedback In Robotic Teleoperation written by Claudio Pacchierotti and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-06 with Computers categories.

This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.

Haptics Understanding Touch Technology And Systems Applications And Interaction

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Author : Hiroyuki Kajimoto
language : en
Publisher: Springer Nature
Release Date : 2024-11-02

Haptics Understanding Touch Technology And Systems Applications And Interaction written by Hiroyuki Kajimoto and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-11-02 with Computers categories.

The two-volume set LNCS 14768 + 14769 constitutes the refereed proceedings of the 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2024, held in Lille, France, during June 30 – July 3, 2024. The 81 full papers presented were carefully reviewed and selected from 142 submissions. They were organized in topical sections as follows: understanding touch; technology and systems; applications and interaction.

Haptics Neuroscience Devices Modeling And Applications

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Author : Malika Auvray
language : en
Publisher: Springer
Release Date : 2014-10-09

Haptics Neuroscience Devices Modeling And Applications written by Malika Auvray and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-10-09 with Computers categories.

The two-volume set LNCS 8618 and 8619 constitutes the refereed proceedings of the 9th International Conference EuroHaptics 2014, held in Versailles, France, in June 2014. The 118 papers (36 oral presentations and 82 poster presentations) presented were carefully reviewed and selected from 183 submissions. Furthermore, 27 demos were exhibited, each of them resulting in a short paper included in the volumes. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover topics such as human-computer interaction, human-robot interactions, neuroscience, perception and psychophysics, biomechanics and motor control, modelling and simulation; and a broad range of applications in medicine, rehabilitation, art, and design.

Novel Haptic Cues For Uav Tele Operation

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Author : Samantha Alaimo
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2014-01-15

Novel Haptic Cues For Uav Tele Operation written by Samantha Alaimo and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-01-15 with Computers categories.

Outlines three case studies: obstacle avoidance, wind gust rejection, and a combination of the two. In each case, Direct Haptic Aid (DHA) and Indirect Haptic Aid (IHA) systems are designed and compared against baseline performance with no haptic aid. This work aims to show that IHA is a valid and promising alternative to the other approaches, which fall into the DHA category.