Stable Haptic Interaction With Virtual Environments
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Stable Haptic Interaction With Virtual Environments
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Author : Richard J. Adams
language : en
Publisher:
Release Date : 1999
Stable Haptic Interaction With Virtual Environments written by Richard J. Adams and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Feedback control systems categories.
A haptic interface is a kinesthetic link between a human operator and a virtual environment. It allows the user of a virtual reality system to feel objects in a virtual world. This dissertation addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual environment, to include both impedance and admittance models of haptic interaction. A benchmark example is used to expose an important duality between these two cases. Linear circuit theory is employed to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. This approach leads to design procedures for virtual coupling networks which give maximum performance while guaranteeing stability.
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.
Immersive Multimodal Interactive Presence
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Author : Angelika Peer
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-03-14
Immersive Multimodal Interactive Presence written by Angelika Peer 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 2012-03-14 with Computers categories.
Immersive Multimodal Interactive Presence presents advanced interdisciplinary approaches that connect psychophysical and behavioral haptics research with advances in haptic technology and haptic rendering. It delivers a summary of the results achieved in the IMMERSENCE European project and includes selected chapters by international researchers. Organized into two parts: I. Psychophysical and Behavioral Basis and II. Technology and Rendering, it is an excellent example of interdisciplinary research directed towards the advancement of multimodal immersive virtual environments with particular focus on haptic interaction. The twelve chapters of the book are grouped around three different scenarios representing different types of interactions in virtual environments: Person-Object (PO), Person-Object-Person (POP) and Person-Person (PP) interaction. Recent results of psychophysical and behavioral studies are reported along with new technological developments for haptic displays and novel haptic rendering techniques.
Touch In Virtual Environments
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Author : Margaret L. McLaughlin
language : en
Publisher: Prentice Hall PTR
Release Date : 2002
Touch In Virtual Environments written by Margaret L. McLaughlin and has been published by Prentice Hall PTR this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with Computers categories.
Haptics: The state-of-the-art in building touch-based interfaces for virtual environments. -- Key research issues: model acquisition, contact detection, force feedback, compression, capture, and collaboration. -- Understanding the role of human factors in haptic interfaces. -- Applications: medical training, telesurgery, biological and scientific interfaces, military applications, sign language, museum display, and more. Haptics -- "touch-based" interface design -- is the exciting new frontier in research on virtual and immersive environments. In Touch in Virtual Environments, the field's leading researchers bring together their most advanced work and applications. They identify the key challenges facing haptic interface developers, present today's best solutions, and outline a clear research agenda for the future. This book draws upon work first presented at the breakthrough haptics conference held recently at USC's Integrated Media Systems Center. The editors and contributors begins by reviewing key haptics applications and the challenges of effective haptic rendering, presenting new insights into model acquisition, contact detection, force feedback, compression, capture, collaboration, and other key issues. Next, they focus on the complex human factors associated with successful haptic interfaces, examining questions such as: How can we make haptic displays more usable for blind and visually impaired users? What are the differences between perceiving texture with the bare skin and with a probe? In the book's final section, several of today's leading haptic applications are introduced, including telesurgery and surgical simulation; scientific visualization.
Control Design For Haptic Systems
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Author : Suyong Kim
language : en
Publisher: Springer Nature
Release Date :
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 with categories.
Haptic Interaction
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Author : Hiroyuki Kajimoto
language : en
Publisher: Springer
Release Date : 2015-06-29
Haptic Interaction written by Hiroyuki Kajimoto and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-06-29 with Technology & Engineering categories.
This book is aimed not only at haptics and human interface researchers, but also at developers and designers from manufacturing corporations and the entertainment industry who are working to change our lives. This publication comprises the proceedings of the first International AsiaHaptics conference, held in Tsukuba, Japan, in 2014. The book describes the state of the art of the diverse haptics- (touch-) related research, including scientific research into haptics perception and illusion, development of haptics devices, and applications for a wide variety of fields such as education, medicine, telecommunication, navigation, and entertainment.
Haptic Interaction
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Author : Shoichi Hasegawa
language : en
Publisher: Springer
Release Date : 2017-07-06
Haptic Interaction written by Shoichi Hasegawa and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-06 with Technology & Engineering categories.
This book comprises the proceedings of the second International Conference, AsiaHaptics 2016, held in Kashiwanoha, Japan. The book treats the state of the art of the diverse haptics (touch)-related research, including scientific research of haptics perception and illusion, development of haptics devices, and applications to a wide variety of fields such as education, medicine, telecommunication, navigation, and entertainment. This work helps not only active haptic researchers, but also general readers to understand what is going on in this interdisciplinary area of science and technology.
Virtual Reality Technology And Applications
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Author : Matjaž Mihelj
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-09-03
Virtual Reality Technology And Applications 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 2013-09-03 with Technology & Engineering categories.
As virtual reality expands from the imaginary worlds of science fiction and pervades every corner of everyday life, it is becoming increasingly important for students and professionals alike to understand the diverse aspects of this technology. This book aims to provide a comprehensive guide to the theoretical and practical elements of virtual reality, from the mathematical and technological foundations of virtual worlds to the human factors and the applications that enrich our lives: in the fields of medicine, entertainment, education and others. After providing a brief introduction to the topic, the book describes the kinematic and dynamic mathematical models of virtual worlds. It explores the many ways a computer can track and interpret human movement, then progresses through the modalities that make up a virtual world: visual, acoustic and haptic. It explores the interaction between the actual and virtual environments, as well as design principles of the latter. The book closes with an examination of different applications, focusing on augmented reality as a special case. Though the content is primarily VR-related, it is also relevant for many other fields.
Dynamics And Robust Control Of Robot Environment Interaction
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Author : Miomir Vukobratovic
language : en
Publisher: World Scientific
Release Date : 2009
Dynamics And Robust Control Of Robot Environment Interaction written by Miomir Vukobratovic and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with Technology & Engineering categories.
This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.
Haptic Interaction With Deformable Objects
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Author : Guido Böttcher
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-08-26
Haptic Interaction With Deformable Objects written by Guido Böttcher 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 2011-08-26 with Computers categories.
The focus from most Virtual Reality (VR) systems lies mainly on the visual immersion of the user. But the emphasis only on the visual perception is insufficient for some applications as the user is limited in his interactions within the VR. Therefore the textbook presents the principles and theoretical background to develop a VR system that is able to create a link between physical simulations and haptic rendering which requires update rates of 1\,kHz for the force feedback. Special attention is given to the modeling and computation of contact forces in a two-finger grasp of textiles. Addressing further the perception of small scale surface properties like roughness, novel algorithms are presented that are not only able to consider the highly dynamic behaviour of textiles but also capable of computing the small forces needed for the tactile rendering at the contact point. Final analysis of the entire VR system is being made showing the problems and the solutions found in the work