Bücher der Reihe Springer Series on Touch and Haptic Systems

This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems.Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one.Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

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 ofcomputing 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

This open access book offers an original interdisciplinary overview of the role of haptic feedback in musical interaction.

This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems.Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one.Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

Toward this vision, the book introduces three mechanisms for haptic personalization and details development of two of them into: 1) an efficient interface for choosing from a large haptic library, and 2) three emotion controls for adjusting haptic signals.

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 open access book offers an original interdisciplinary overview of the role of haptic feedback in musical interaction.

This book presents a new set of devices for accurate investigation of human finger stiffness and force distribution in grasping tasks.

This book presents a panorama of technologies and methods for multi-finger haptic interaction, together with an analysis of the benefits and implications of adding multiple-fingers to haptic applications.

This book features a comprehensive review of the sense of touch from the psychophysical, biomechanical and technological viewpoints. It presents guidelines for mechatronics design and the control of high-fidelity vibrotactile devices.

Immersive Multimodal Interactive Presence presents advanced interdisciplinary approaches that connect psychophysical and behavioral haptics research with advances in haptic technology and haptic rendering.

This book features a novel geometric data structure for collision detection at haptic rates between arbitrary rigid objects. It offers a state of the art review of the current data structures for collision detection and presents new applications.

This book presents a panorama of technologies and methods for multi-finger haptic interaction, together with an analysis of the benefits and implications of adding multiple-fingers to haptic applications.

Immersive Multimodal Interactive Presence presents advanced interdisciplinary approaches that connect psychophysical and behavioral haptics research with advances in haptic technology and haptic rendering.

Treating haptics as a new medium rather than a sub-domain of robotics or virtual reality, this book covers the fundamental principles, explains the software architecture, and shows the applications of this emerging technology along with its attendant trends.

The focus from most Virtual Reality (VR) systems lies mainly on the visual immersion of the user.

This literature review on haptic textures examines the problem of rendering virtual haptic textures with force-feedback devices. It provides a thorough grounding in the subject and includes tools for analyzing the textures that a haptic device can produce.

This book meets the need to understand performance metrics for haptic interfaces and their implications on device design, use and application. The authors propose evaluation practices including a combined physical and psychophysical experimental methodology.