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Author: Jian Zhang
Publisher:
ISBN:
Category : Human-computer interaction
Languages : en
Pages : 288
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Book Description
Author: Jian Zhang
Publisher:
ISBN:
Category : Human-computer interaction
Languages : en
Pages : 288
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Book Description
Author: Mehrdad Hosseini-Zadeh
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Author: Lili Lian
Publisher: Open Dissertation Press
ISBN: 9781374661974
Category :
Languages : en
Pages :
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Book Description
This dissertation, "Haptic Rendering of Three-dimensional Heterogeneous Features" by Lili, Lian, 廉莉莉, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. Abstract: Abstract of thesis entitled HAPTIC RENDERING OF THREE-DIMENSIONAL HETEROGENEOUS FEATURES Submitted by Lian Lili for the degree of Doctor of Philosophy at The University of Hong Kong in February 2007 Haptic interaction provides the operator a full immersion in the virtual environment by offering an additional communication modality - the force feedback between the user and the computer. In recent years, haptic related research has attracted intensive interest, but most previous work has been restricted to modeling and haptic rendering of virtual models with homogeneous features. This study focuses on the haptic rendering algorithms of three-dimensional heterogeneous features and their applications to product design. In this study, heterogeneous features are characterized as both material and geometric variations, and haptic rendering of heterogeneous features is implemented in three disciplines. The first discipline focuses on the haptic rendering of heterogeneous rough surface and frictional surface of rigid objects. The haptic rendering of roughness and friction is implemented based on the generation of fine surface features. Three-dimensional geometric variations of fine surface features are created by a procedural method followed by a feature mapping approach. Improvement of the lateral-force algorithm and the Karnopp-based algorithm is developed to haptically render heterogeneous surface roughness and friction. The second discipline focuses on the haptic rendering of deflection or small deformation of an object consisted of heterogeneous materials. Haptic rendering of flexible objects is attributed in between haptic rendering of rigid objects and that of deformable objects. Therefore, a pseudo-rigid-body model is developed to model the flexible object and calculate the feedback forces. Pseudo-rigid-body models consisting of different materials are assembled in a certain way to simulate a heterogeneous object. The proposed approach is also applied to a haptic aided product design case study. In the third discipline, the haptic rendering of deformable objects composed of heterogeneous materials is investigated. A multi-layer mass-spring system is used to represent the deformable object. The relationship between the physical properties of the materials being simulated and the physical parameters of the model is investigated. A surface-based force-mapping method is developed to haptically display the proposed mass-spring system. This method simplifies a volume-based model into a surface-based model and maintains the material information of the inner volume of the model simultaneously. As a result, the haptic rendering of heterogeneous material objects can be realized. Furthermore, system computation acceleration is implemented by a proposed multi-resolution and multi-rate method. DOI: 10.5353/th_b3875820 Subjects: User interfaces (Computer systems) Touch Virtual reality Algorithms
Author: Dangxiao Wang
Publisher: Springer
ISBN: 3662449498
Category : Computers
Languages : en
Pages : 170
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Book Description
This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in many VR-based simulation systems, the book will be of particular interest to researchers and professionals in the areas of surgical simulation, rehabilitation, virtual assembly, and inspection and maintenance.
Author: Matjaž Mihelj
Publisher: Springer Science & Business Media
ISBN: 9400757182
Category : Technology & Engineering
Languages : en
Pages : 217
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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: Guido Böttcher
Publisher: Springer Science & Business Media
ISBN: 0857299352
Category : Computers
Languages : en
Pages : 148
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Book Description
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
Author: Ming C. Lin
Publisher: A K Peters/CRC Press
ISBN:
Category : Computers
Languages : en
Pages : 634
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Book Description
For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments. This book provides an authoritative overview of state-of-theart haptic rendering algorithms and their applications. The authors examine various approaches and techniques for designing touch-enabled interfaces for a number of applications, including medical training, model design, and maintainability analysis for virtual prototyping, scientific visualization, and creative processes.
Author: Mehrdad Hosseini Zadeh
Publisher: IntechOpen
ISBN: 9789533070933
Category : Medical
Languages : en
Pages : 732
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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: Margaret Irene Schatz Koehler
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Haptic interfaces are used in training, guidance, and teleoperation to provide force and tactile feedback to a user from a virtual or remote environment. In contrast to the rigid components typically comprising haptic devices, compliant materials could enable new haptic devices that move via deformation rather than via joints. However, the design and control of devices consisting of soft or deformable components is challenging, due to the complex coupling between actuation and end-effector motion and due to a lack of sensing. This thesis considers the potential for computational model-based methods to address challenges in the design and control of deformable haptic devices. In the first half of this thesis, we introduce a new haptic shape display made of soft materials for organ simulation for medical training. The device is a continuous, fully 3D shape-changing surface that a user can touch and hold. We develop a mass-spring model of the device that allows us to understand how different pneumatic actuators affect the shape. Further, we develop an automated design algorithm based on a heuristic controller and a simulation of the device to determine how to arrange a limited number of actuators to reproduce target shapes. This device and its associated algorithms show how a model can be used to understand complex deformations due to pneumatic actuation of a compliant system. The second half of this thesis focuses on the precise control of deformable haptic devices. Two deformable kinesthetic haptic devices are introduced: a 2-DOF planar device and a 5-DOF device. In these devices, forces are transmitted from the actuators to the user via deformable transmissions which allow for easy fabrication and reduced mass and friction in the device. Using these devices, we demonstrate methods for design, sensing, and control. We derive a general formula for the mapping of actuator stiffness to end-effector stiffness and verify it using the planar device. For sensing, we present results in model-based sensing using only actuator information or using model-calibrated embedded sensors. With these techniques, we can use the deformation of the device to measure the force applied to the device without an external force sensor. We extend techniques from rigid robot workspace analysis to deformable robots. Finally, we develop control techniques for haptic rendering which compensate for device mechanics and characterize the resulting forces. Together, these results in design and control show that model-based methods can overcome some of the challenges of deformable devices to enable new haptic interfaces.
Author: Margaret L. McLaughlin
Publisher: Prentice Hall PTR
ISBN:
Category : Computers
Languages : en
Pages : 314
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Book Description
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.
