| Preface |
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xi | |
| Introduction |
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1 | (4) |
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I Fundamentals and Devices |
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5 | (152) |
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Perceiving Object Properties through a Rigid Link |
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7 | (14) |
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Surface Roughness: Direct vs. Indirect Exploration |
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8 | (4) |
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Effects of a Rigid Link on Other Object Properties |
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12 | (1) |
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Object Identification: Direct vs. Indirect Exploration |
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13 | (1) |
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Intersensory Influences via Indirect Touch |
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14 | (3) |
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17 | (1) |
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Implications for Virtual Objects |
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18 | (3) |
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Multi-Sensory Interactions |
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21 | (32) |
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Introduction to Crossmodal Congruency |
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21 | (1) |
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The Crossmodal Congruency Task |
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22 | (13) |
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Using the Crossmodal Congruency Task |
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35 | (12) |
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Using the Crossmodal Congruency Task |
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47 | (3) |
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50 | (3) |
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Design Issues in Haptic Devices |
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53 | (14) |
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Towards Full-Body Virtual Touch |
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53 | (1) |
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Sensory Modes and Interface Devices |
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54 | (1) |
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55 | (5) |
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60 | (3) |
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Flexible Surface Displays |
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63 | (3) |
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66 | (1) |
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Rendering for Multifinger Haptic Devices |
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67 | (16) |
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67 | (1) |
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Multifinger Haptic Perception |
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68 | (3) |
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Design of a Multifinger Haptic Device |
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71 | (4) |
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Multifinger Rendering Method |
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75 | (6) |
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81 | (2) |
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Locomotion Interfaces and Rendering |
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83 | (10) |
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Locomotion Interface Designs |
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83 | (4) |
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87 | (4) |
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91 | (2) |
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Variable Friction Haptic Displays |
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93 | (30) |
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Human Perception of Friction |
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93 | (3) |
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Friction Reduction Theory |
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96 | (8) |
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Variable Friction Devices |
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104 | (7) |
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Friction Reduction Measurements |
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111 | (4) |
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Friction Patterns to Mimic Textures |
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115 | (2) |
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117 | (4) |
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121 | (2) |
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Stability of Haptic Displays |
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123 | (34) |
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123 | (1) |
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124 | (1) |
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Passive Rendering of a Virtual Wall |
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125 | (5) |
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Extensions to the Passivity Framework |
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130 | (6) |
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136 | (7) |
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143 | (12) |
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155 | (2) |
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157 | (312) |
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Introduction to Haptic Rendering Algorithms |
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159 | (22) |
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Definition of the Rendering Problem |
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159 | (4) |
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Components of a Rendering Algorithm |
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163 | (2) |
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Direct Rendering vs. Virtual Coupling |
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165 | (3) |
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Modeling the Tool and the Environment |
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168 | (8) |
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176 | (5) |
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Overview on Collision and Proximity Queries |
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181 | (24) |
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182 | (1) |
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183 | (3) |
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186 | (4) |
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Penetration Depth Computation |
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190 | (3) |
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Volumetric Representations |
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193 | (1) |
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Spline and Algebraic Objects |
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194 | (2) |
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196 | (1) |
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197 | (1) |
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Multiresolution Techniques |
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198 | (1) |
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199 | (2) |
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201 | (4) |
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Collision Detection for Three-DOF Rendering |
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205 | (14) |
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205 | (1) |
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A Fast Proximity Query Algorithm for 3-DOF Haptic Interaction |
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206 | (6) |
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212 | (1) |
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213 | (3) |
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216 | (1) |
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217 | (2) |
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Voxel-Based Collision Detection for Six-DOF Rendering |
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219 | (34) |
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219 | (3) |
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222 | (6) |
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228 | (3) |
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231 | (5) |
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Rendering with Virtual Coupling |
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236 | (3) |
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Applications and Experiments |
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239 | (10) |
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249 | (4) |
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Continuous Collision Detection |
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253 | (24) |
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Why Continuous Collision Detection? |
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253 | (2) |
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Arbitrary In-Between Motions |
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255 | (7) |
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262 | (2) |
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Elementary Continuous Collision Detection |
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264 | (4) |
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Continuous Overlap Tests for Bounding Volumes |
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268 | (5) |
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273 | (4) |
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277 | (20) |
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Psychophysical Foundations |
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278 | (2) |
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Approaches to Multiresolution Collision Detection |
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280 | (1) |
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281 | (2) |
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Sensation-Preserving Simplification |
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283 | (2) |
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Multiresolution Contact Queries |
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285 | (4) |
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289 | (5) |
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294 | (3) |
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Physically Based Haptic Synthesis |
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297 | (14) |
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Haptic Synthesis as a Means for Passivity |
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298 | (1) |
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299 | (3) |
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302 | (2) |
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304 | (3) |
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307 | (1) |
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308 | (1) |
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309 | (2) |
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Three-Degree-of-Freedom Rendering |
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311 | (22) |
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311 | (4) |
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Single-Point Rendering of 3D Rigid Objects |
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315 | (12) |
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Surface Details: Smoothing, Friction, and Texture |
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327 | (4) |
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331 | (2) |
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Six-Degree-of-Freedom Rendering of Rigid Environments |
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333 | (22) |
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335 | (1) |
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Six-Degree-of-Freedom God-Object Simulation |
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336 | (2) |
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Constraint-Based Force Computation |
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338 | (3) |
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Haptic Surface Properties |
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341 | (5) |
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346 | (6) |
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352 | (3) |
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Rendering of Spline Models |
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355 | (16) |
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The Spline Representation |
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355 | (1) |
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Distance and Orthogonal Projection |
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356 | (2) |
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Local Minima in Distance versus the Virtual Proxy |
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358 | (1) |
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3-DOF Haptic Rendering of Spline Models |
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359 | (1) |
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Direct Parametric Tracing |
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359 | (6) |
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Stability of Numerical Closest Point Methods |
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365 | (2) |
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6-DOF Haptic Rendering of Spline Models |
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367 | (2) |
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369 | (2) |
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Rendering of Textured Objects |
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371 | (24) |
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372 | (1) |
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Three-DOF Haptic Texture Rendering |
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373 | (2) |
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375 | (2) |
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Penetration Depth between Textured Models |
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377 | (6) |
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383 | (8) |
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391 | (4) |
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Modeling Deformation of Linear Elastostatic Objects |
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395 | (26) |
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Motivations for Linear Elastostatic Models |
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395 | (3) |
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Linear Elastostatic Boundary Model Preliminaries |
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398 | (5) |
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Fast Global Deformation Using Capacitance Matrix Algorithms (CMAs) |
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403 | (5) |
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Capacitance Matrices as Local Buffer Models |
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408 | (2) |
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Surface Stiffness Models for Point-Like Contact |
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410 | (7) |
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417 | (3) |
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420 | (1) |
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Rendering of Frictional Contact with Deformable Environments |
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421 | (22) |
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Contact and Friction Models |
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422 | (2) |
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Non-Smooth Dynamics for Deformable Objects |
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424 | (1) |
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425 | (2) |
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427 | (2) |
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429 | (4) |
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433 | (4) |
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437 | (3) |
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440 | (3) |
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Measurement-Based Modeling for Haptic Rendering |
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443 | (26) |
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444 | (2) |
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Developing and Rendering a Measurement-Based Model |
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446 | (3) |
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Example Application: Tapping on Rigid Surfaces |
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449 | (8) |
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Example Application: Cutting Deformable Surfaces |
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457 | (8) |
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465 | (4) |
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469 | (80) |
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471 | (14) |
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471 | (5) |
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476 | (1) |
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The Stringed Haptic Workbench |
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477 | (1) |
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478 | (2) |
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Putty Application---An Automotive Virtual Prototyping Application |
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480 | (2) |
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482 | (3) |
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Haptics for Scientific Visualization |
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485 | (16) |
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Lessons from Haptic-Enabled Visualization Applications |
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485 | (12) |
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Useful Techniques for Haptic Display in Scientific Visualization |
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497 | (3) |
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500 | (1) |
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Haptics in Medical Applications |
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501 | (16) |
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501 | (6) |
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Visuo-Haptic Segmentation of Radiological Data |
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507 | (2) |
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Immersive Virtual-Reality-Based Hysteroscopy Training |
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509 | (3) |
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Multimodal Augmented Reality for Open Surgery Training |
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512 | (5) |
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The Role of Haptics in Physical Rehabilitation |
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517 | (14) |
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Robotic Systems for Physical Rehabilitation |
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518 | (4) |
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Specifics of Haptic Feedback for the Disabled |
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522 | (4) |
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Safety Issues in Haptics for Rehabilitation |
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526 | (2) |
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528 | (3) |
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Modeling and Creative Processes |
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531 | (18) |
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Case Studies of Existing Systems |
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533 | (1) |
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Haptic-Enhanced Painting with 3D Deformable Brushes |
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534 | (7) |
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Haptic Modeling and 3D Painting |
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541 | (6) |
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547 | (1) |
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548 | (1) |
| Bibliography |
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549 | (54) |
| Index |
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603 | |