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Author: Arash Mohtat Publisher: ISBN: Category : Languages : en Pages :
Book Description
"Kinesthetic haptic applications deliver graphics, sound and force feedback to enable the human operator to interact with objects within a virtual world. The force feedback sensation, in particular, is created by a haptic device that displays the forces arising from this interaction. These forces must accurately emulate a real contact interaction, an objective which is commonly referred to as high-fidelity force feedback rendering. Achieving this objective can be quite challenging, for at least two main reasons. The first stems from the very special stability requirements due to the sampled-data nature of a haptic system and the presence of the human in the loop, while the second can be attributed to the difficult nature of modeling contact interaction in mechanics.In this thesis, a special attention has been given to the non-idealities associated with the sampled-data implementation reflected at the energy level, i.e. energy leaks, and their influence on the stability and passivity of the haptic system. It is proposed to avoid the generation of energy leaks, as much as possible, via modified force feedback laws. This novel notion is entitled as energy-consistent rendering, and the smooth-correction leak-dissipation (SCLD) strategy is developed to achieve it. The range of applicability of this method is studied via a renderability analysis framework under different uncertainty assumptions regarding the human influence on the stability of the overall system. Stability charts are constructed in the nondimensionalized stiffness plane for a canonical virtual spring-mass-damper system. This can be considered a generalization of the concepts of Z-width and M-width in relation to virtual walls and virtual masses.For accurate modeling of the interaction, on the other hand, different custom combination of contact representations geared toward haptic rendering are also studied, under different paradigms for connecting the physical domain to the virtual domain. A unified handling of colliding contact and sustained contact via a hybrid penalty-and-impulse-based formulation is developed that leads to a natural transition between contact formulations. This framework is a first step toward looking at contact methods from a unified control-oriented perspective, and is entitled as the generalized contact controller. A haptic billiard game is developed to serve as a detailed case study to show how contact modeling methods can be generalized to the multiple degree-of-freedom case and customized for specific haptic rendering purposes." --
Author: Arash Mohtat Publisher: ISBN: Category : Languages : en Pages :
Book Description
"Kinesthetic haptic applications deliver graphics, sound and force feedback to enable the human operator to interact with objects within a virtual world. The force feedback sensation, in particular, is created by a haptic device that displays the forces arising from this interaction. These forces must accurately emulate a real contact interaction, an objective which is commonly referred to as high-fidelity force feedback rendering. Achieving this objective can be quite challenging, for at least two main reasons. The first stems from the very special stability requirements due to the sampled-data nature of a haptic system and the presence of the human in the loop, while the second can be attributed to the difficult nature of modeling contact interaction in mechanics.In this thesis, a special attention has been given to the non-idealities associated with the sampled-data implementation reflected at the energy level, i.e. energy leaks, and their influence on the stability and passivity of the haptic system. It is proposed to avoid the generation of energy leaks, as much as possible, via modified force feedback laws. This novel notion is entitled as energy-consistent rendering, and the smooth-correction leak-dissipation (SCLD) strategy is developed to achieve it. The range of applicability of this method is studied via a renderability analysis framework under different uncertainty assumptions regarding the human influence on the stability of the overall system. Stability charts are constructed in the nondimensionalized stiffness plane for a canonical virtual spring-mass-damper system. This can be considered a generalization of the concepts of Z-width and M-width in relation to virtual walls and virtual masses.For accurate modeling of the interaction, on the other hand, different custom combination of contact representations geared toward haptic rendering are also studied, under different paradigms for connecting the physical domain to the virtual domain. A unified handling of colliding contact and sustained contact via a hybrid penalty-and-impulse-based formulation is developed that leads to a natural transition between contact formulations. This framework is a first step toward looking at contact methods from a unified control-oriented perspective, and is entitled as the generalized contact controller. A haptic billiard game is developed to serve as a detailed case study to show how contact modeling methods can be generalized to the multiple degree-of-freedom case and customized for specific haptic rendering purposes." --
Author: Matjaž Mihelj Publisher: Springer Science & Business Media ISBN: 9400757182 Category : Technology & Engineering Languages : en Pages : 217
Book Description
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.
Author: Gianni Campion Publisher: Springer Science & Business Media ISBN: 0857295764 Category : Computers Languages : en Pages : 170
Book Description
The sense of touch is fundamental during the interaction between humans and their environment; in virtual reality, objects are created by computer simulations and they can be experienced through haptic devices. In this context haptic textures are fundamental for a realistic haptic perception of virtual objects. This book formalizes the specific artefacts corrupting the rendering of virtual haptic textures and offers a set of simple conditions to guide haptic researchers towards artefact-free textures. The conditions identified are also extremely valuable when designing psychophysical experiments and when analyzing the significance of the data collected. The Synthesis of Three Dimensional Haptic Textures, Geometry, Control, and Psychophysics examines the problem of rendering virtual haptic textures with force feedback devices. The author provides an introduction to the topic of haptic textures that covers the basics of the physiology of the skin, the psychophysics of roughness perception, and the engineering challenges behind haptic textures rendering. The book continues with the presentation of a novel mathematical framework that characterizes haptic devices, texturing algorithms and their ability to generate realistic haptic textures. Finally, two psychophysical experiments link the perception of roughness with the parameters of the haptic rendering algorithms. This book formalizes the specific artefacts corrupting the rendering of virtual haptic textures and offers a set of simple conditions to guide haptic researchers towards artefact-free textures. The conditions identified are also extremely valuable when designing psychophysical experiments and when analyzing the significance of the data collected.
Author: D. Jude Hemanth Publisher: Springer Nature ISBN: 3030351394 Category : Technology & Engineering Languages : en Pages : 205
Book Description
Human–computer interaction (HCI) is one of the most significant areas of computational intelligence. This book focuses on the human emotion analysis aspects of HCI, highlighting innovative methodologies for emotion analysis by machines/computers and their application areas. The methodologies are presented with numerical results to enable researchers to replicate the work. This multidisciplinary book is useful to researchers and academicians, as well as students wanting to pursue a career in computational intelligence. It can also be used as a handbook, reference book, and a textbook for short courses.
Author: National Research Council Publisher: National Academies Press ISBN: 0309051355 Category : Computers Languages : en Pages : 557
Book Description
Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Author: Abdulmotaleb El Saddik Publisher: Springer Science & Business Media ISBN: 3642226582 Category : Computers Languages : en Pages : 230
Book Description
The term “haptics” refers to the science of sensing and manipulation through touch. Multiple disciplines such as biomechanics, psychophysics, robotics, neuroscience, and software engineering converge to support haptics, and generally, haptic research is done by three communities: the robotics community, the human computer interface community, and the virtual reality community. This book is different from any other book that has looked at haptics. The authors treat haptics as a new medium rather than just a domain within one of the above areas. They describe human haptic perception and interfaces and present fundamentals in haptic rendering and modeling in virtual environments. Diverse software architectures for standalone and networked haptic systems are explained, and the authors demonstrate the vast application spectrum of this emerging technology along with its accompanying trends. The primary objective is to provide a comprehensive overview and a practical understanding of haptic technologies. An appreciation of the close relationship between the wide range of disciplines that constitute a haptic system is a key principle towards being able to build successful collaborative haptic environments. Structured as a reference to allow for fast accommodation of the issues concerned, this book is intended for researchers interested in studying touch and force feedback for use in technological multimedia systems in computer science, electrical engineering, or other related disciplines. With its novel approach, it paves the way for exploring research trends and challenges in such fields as interpersonal communication, games, or military applications.
Author: Mehrdad Hosseini Zadeh Publisher: BoD – Books on Demand ISBN: 9533070935 Category : Medical Languages : en Pages : 734
Book Description
Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientific visualization, robot-assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the field of haptics. Authors from around the world present the results of their research on various issues in the field of haptics.
Author: Antonio Bicchi Publisher: Springer Science & Business Media ISBN: 3540790349 Category : Technology & Engineering Languages : en Pages : 292
Book Description
"Sense of Touch and its Rendering" presents a unique and interdisciplinary approach highlighting the field of haptic research from a neuropsychological as well as a technological point of view. This edited book is the outcome of the TOUCH-HapSys European research project and provides an important contribution towards a new generation of high-fidelity haptic display technologies. The book is structured in two parts: A. Fundamental Psychophysical and Neuropsychological Research and B. Technology and Applications. The two parts are not however separated, and the many connections and synergies between the two complementary domains of research are highlighted in the text. The eleven chapters discuss the recent advances in the study of human haptic (kinaesthetic, tactile, temperature) and multimodal (visual, auditory, haptic) perception mechanisms. Besides the theoretical advancement, the contributions survey the state of the art in the field, report a number of practical applications to real systems, and discuss possible future developments.
Author: Femke Elise van Beek Publisher: Springer ISBN: 3319699202 Category : Computers Languages : en Pages : 157
Book Description
Tele operation systems, in which robots are controlled remotely, are a potential solution to performing tasks in remote, small, and hazardous environments. However, there is a big disadvantage to these systems; as the direct connection between the human and the environment is lost and operators are deprived of their sense of touch. The recreation of touch feedback through haptic devices is a possible solution, however haptic devices are far from perfect and improving their design is usually a slow trial-and-error process. This book describes 7 scientific studies that try to break this slow loop by using a deductive approach. Through investigating fundamental properties of human haptic perception using psychophysical paradigms, general knowledge on haptic perception of force, position, movement and hardness was gained. The resulting information can be applied to many different haptic devices. Consequently haptic systems can be more easily designed in an intuitive, human-centered way.
Author: Christian Hatzfeld Publisher: Springer ISBN: 9781447165170 Category : Computers Languages : en Pages : 0
Book Description
In this greatly reworked second edition of Engineering Haptic Devices the psychophysic content has been thoroughly revised and updated. Chapters on haptic interaction, system structures and design methodology were rewritten from scratch to include further basic principles and recent findings. New chapters on the evaluation of haptic systems and the design of three exemplary haptic systems from science and industry have been added. This book was written for students and engineers that are faced with the development of a task-specific haptic system. It is a reference book for the basics of haptic interaction and existing haptic systems and methods as well as an excellent source of information for technical questions arising in the design process of systems and components. Divided into two parts, part 1 contains typical application areas of haptic systems and a thorough analysis of haptics as an interaction modality. The role of the user in the design of haptic systems is discussed and relevant design and development stages are outlined. Part II presents all relevant problems in the design of haptic systems including general system and control structures, kinematic structures, actuator principles and sensors for force and kinematic measures. Further chapters examine interfaces and software development for virtual reality simulations.
Author: Arash Mohtat
Author: Arash Mohtat
Author: Matjaž Mihelj
Author: Gianni Campion
Author: D. Jude Hemanth
Author: National Research Council
Author: Abdulmotaleb El Saddik
Author: Mehrdad Hosseini Zadeh
Author: Antonio Bicchi
Author: Femke Elise van Beek
Author: Christian Hatzfeld