Table Of ContentI
Advances in Haptics
Advances in Haptics
Edited by
Mehrdad Hosseini Zadeh
In-Tech
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Published by In-Teh
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First published April 2010
Printed in India
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Cover designed by Dino Smrekar
Advances in Haptics,
Edited by Mehrdad Hosseini Zadeh
p. cm.
ISBN 978-953-307-093-3
V
Preface
In everyday life, we use our senses to interact with the
environment. We can see, touch, smell, hear and taste the
external world surrounding us through interactions that
usually occur with an initial contact between an organism
and its environment.
Particularly, we have physical experiences such as texture,
stiffness, and resistance to movement through our sense of
touch. To experience these in virtual environments (VEs),
computer interfaces are required to enable us to interact with
virtual objects. Haptic technology enables computer users to
touch and/or manipulate virtual or remote objects in virtual
environments or tele-operation systems. If haptic cues (e.g.,
touch sensations) are displayed in addition to visual and
auditory cues, these VEs are called haptic-enabled virtual
environments.
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. The contributions are organized in five sections:
Section I deals with the design, control, and analysis of haptic interfaces. Issues such as
stability and achievable performance of haptic interfaces are addressed. Stability is one of the
main issues in the control of haptic interfaces. Instability might cause an undesirable feeling
to the user and unrealistic interaction with the virtual environment. Stability and achievable
performance of a haptic system are among the fundamental indices for evaluation of a high-
precision stable haptic rendering.
VI
In Section II, several important issues are addressed in the haptic rendering of haptic-enabled
VEs. The contributed chapters in this section deal with the development and enhancement of
algorithms and software associated with generating, transmitting, and rendering the feel of
virtual objects.
Section III covers several human factors studies that investigate the effects of various factors
on user perception and performance in various applications of haptics. Haptic applications
require interactions between humans and computers. Due to the complexity and variability
of the user’s physical motion, it is difficult to generate a precise mathematical description of
human motor control behavior. In addition, to ensure that VEs are compatible with users,
VE designers need knowledge about human perception to obtain an understanding of design
constraints influenced by sensory perception. Thus, human factors studies are required to
recognize the limitations and capabilities of the user.
Section IV presents topics focusing on various aspects of the haptic interaction between
humans and computers. An understanding of the nature of user-computer interaction is
essential for the design of haptic interfaces. Several interaction issues are investigated to
ensure the effectiveness of haptic interfaces. The results of these studies can improve the
design of usable and effective haptic interfaces.
Finally, Section V presents recent selected applications in the field of haptics.
Mehrdad Hosseini Zadeh, Ph.D
Grand Blanc, Michigan
April 2010
VII
Contents
Preface V
I. Haptic Interfaces: Design, Control, and Analysis
1. Novel Actuation Methods for High Force Haptics 001
Stephen P. Buerger and Neville Hogan
2. Using Magnetic Levitation for Haptic Interaction 031
Peter Berkelman and Michael Dzadovsky
3. Solving the Correspondence Problem in Haptic/Multisensory Interface Design 047
Charles Spence, Mary K. Ngo, Ju-Hwan Lee and Hong Tan
4. Cartesian Control of a Cable-Driven Haptic Mechanism 075
Martin J.D. Otis, Vincent Duchaine, Greg Billette, Simon Perreault,
Clément Gosselin and Denis Laurendeau
5. Stability Boundary and Transparency for Haptic Rendering 103
Iñaki Díaz, Jorge Juan Gil and Thomas Hulin
6. Implementation of a Wireless Haptic Controller for Humanoid Robot Walking 127
Eun-Su Kim, Man-Seok Kim, Johwan Kim, Sang Woo Kim and Jong-Wook Kim
7. Head-Tracking Haptic Computer Interface for the Blind 143
Simon Meers and KorenWard
8. Passivity-based Analysis and Design of Multi-contact Haptic Systems via LMIs 155
Gianni Bianchini, Marcello Orlandesi and Domenico Prattichizzo
9. Analysis and Experimental Study of a 4-DOF Haptic Device 171
Ma and Payandeh
10. A Haptically Enhanced Operational Concept for a Hydraulic Excavator 199
Henning Hayn and Dieter Schwarzmann
11. Five Fingers Haptic Interface Robot HIRO: Design, Rendering, and Applications 221
Osama Halabi and Haruhisa Kawasaki
12. Optimal Design of Haptic Interfaces 241
Volkan Patoglu and Aykut Cihan Satici
VIII
13. Transparent and Shaped Stiffness Reflection for Telesurgery 259
BertWillaert, Pauwel Goethals, Dominiek Reynaerts, Hendrik Van Brussel
and Emmanuel B. Vander Poorten
14. Mechanism Design of Haptic Devices 283
Han Sung Kim
II. Computer Haptics and Haptic Rendering
15. Haptic-Based 3D Carving Simulator 299
Gabriel Telles O’Neill, Won-Sook Lee and Jeff William
16. Manipulation of Dynamically Deformable Object using Impulse-Based Approach 315
Kazuyoshi Tagawa, Koichi Hirota and Michitaka Hirose
17. Haptic Interaction with Complex Models Based on Precomputations 333
Igor Peterlík and Luděk Matyska and Jiří Filipovič
18. A Haptic Modeling System 357
Jeha Ryu and Hyungon Kim
19. Haptic Data Transmission based on the Prediction and Compression 375
Yonghee You and Mee Young Sung
III. Human Factors
20. Digitizing literacy: reflections on the haptics of writing 385
Anne Mangen and Jean-Luc Velay
21. Kinesthetic Illusion of Being Pulled Sensation Enables Haptic Navigation
for Broad Social Applications 403
Tomohiro Amemiya, Hideyuki Ando and Taro Maeda
22. Perceptual Issues Improve Haptic Systems Performance 415
Marco Vicentini and Debora Botturi
23. Temporal perception of visual-haptic events in multimodal telepresence system 437
Zhuanghua Shi, Heng Zou and Hermann J. Müller
24. On the Influence of Hand Dynamics on Motion Planning of Reaching
Movements in Haptic Environments 451
Igor Goncharenko, Mikhail Svinin, Shigeyuki Hosoe and Sven Forstmann
25. Haptic touch and hand ability 463
Miriam Ittyerah
26. Force Scaling as a Function of Object Mass when Lifting with Peripheral Fatigue 481
James C. Larmer, Camille Williams and Heather Carnahan
27. Neuromuscular Analysis as a Guideline in designing Shared Control 499
Abbink D.A. and Mulder M.
IX
28. Factors Affecting the Perception-Based Compression of Haptic Data 517
Mehrdad Hosseini Zadeh, David Wang and Eric Kubica
IV. Haptic Interaction
29. Real-Time Support of Haptic Interaction by Means of Sampling-Based
Path Planning 543
Michael Strolz and Martin Buss
30. Sensory Properties in Fusion of Visual/Haptic Stimuli Using Mixed Reality 565
Itaru Kitahara, Morio Nakahara and Yuichi Ohta
31. Expanding the Scope of Instant Messaging with Bidirectional
Haptic Communication 583
Youngjae Kim and Minsoo Hahn
32. Realistic Haptics Interaction in Complex Virtual Environments 603
Hanqiu SUN and Hui CHEN
V. Selected Haptic Applications
33. Mapping Workspaces to Virtual Space in Work Using Heterogeneous
Haptic Interface Devices 621
Ayano Tatematsu and Yutaka Ishibashi
34. Collaborative Tele-Haptic Application and Its Experiments 637
Qonita M. Shahab, Maria N. Mayangsari and Yong-Moo Kwon
35. Using Haptic Technology to Improve Non-Contact Handling:
the “Haptic Tweezer” Concept 649
Ewoud vanWest, Akio Yamamoto and Toshiro Higuchi
36. Haptics and the Biometric Authentication Challenge 675
Andrea Kanneh and Ziad Sakr
37. Haptic virtual reality assembly – Moving towards Real Engineering Applications 693
T. Lim, J.M. Ritchie, R. Sung, Z. Kosmadoudi, Y. Liu and A.G. Thin
