Engineering haptic devices : a beginner's guide
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 ch...
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| Main Authors | , |
|---|---|
| Format | eBook Book |
| Language | English |
| Published |
London
Springer
2014
Springer London, Limited Springer London |
| Edition | 2 |
| Series | Springer Series on Touch and Haptic Systems |
| Subjects | |
| Online Access | Get full text |
| ISBN | 9781447165170 1447165179 |
| ISSN | 2192-2977 2192-2985 |
| DOI | 10.1007/978-1-4471-6518-7 |
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| Abstract | 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. |
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| AbstractList | 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 | Kern, Thorsten A. Hatzfeld, Christian |
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| Copyright | Springer-Verlag London 2014 |
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| DOI | 10.1007/978-1-4471-6518-7 |
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| Edition | 2 2nd ed. 2014 Second edition |
| Editor | Kern, Thorsten A. Hatzfeld, Christian |
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| ISSN | 2192-2977 |
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| Notes | Includes index: p. 567-573 |
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| PublicationSeriesTitle | Springer Series on Touch and Haptic Systems |
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| PublicationYear | 2014 |
| Publisher | Springer Springer London, Limited Springer London |
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| RelatedPersons | Ferre, Manuel Wing, Alan Ernst, Marc O. |
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| Snippet | In this greatly reworked second edition of Engineering Haptic Devices the psychophysic content has been thoroughly revised and updated. Chapters on haptic... |
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| SubjectTerms | Computer Engineering Computer Science Control, Robotics, Mechatronics Haptic devices Human-computer interaction Mechanical engineering Systems engineering Touch User interfaces (Computer systems) User Interfaces and Human Computer Interaction User-centered system design |
| TableOfContents | 6.5 Qualitative Comparison of the Internal Structures of Haptic Systems -- 6.5.1 Tactile Devices -- 6.5.2 Kinaesthetic Devices -- 6.6 How to Choose a Suitable System Structure -- 7 Control of Haptic Systems -- 7.1 System Description -- 7.1.1 Linear State Space Description -- 7.1.2 Nonlinear System Description -- 7.2 System Stability -- 7.2.1 Analysis of Linear System Stability -- 7.2.2 Analysis of Nonlinear System Stability -- 7.3 Control Law Design for Haptic Systems -- 7.3.1 Structuring of Control Design -- 7.3.2 Requirement Definition -- 7.3.3 General Control Law Design -- 7.3.4 Example: Cascade Control of a Linear Drive -- 7.4 Control of Teleoperation Systems -- 7.4.1 Two-Port Representation -- 7.4.2 Transparency -- 7.4.3 General Control Model for Teleoperators -- 7.4.4 Stability Analysis of Teleoperators -- 7.4.5 Effects of Time Delay -- 7.5 Conclusion -- References -- 8 Kinematic Design -- 8.1 Introduction and Classification -- 8.1.1 Classification of Mechanisms -- 8.2 Design Step 1: Topological Synthesis---Defining the Mechanism's Structure -- 8.2.1 Synthesis of Serial Mechanisms -- 8.2.2 Synthesis of Parallel Mechanisms -- 8.2.3 Special Case: Parallel Mechanisms with Pure Translational Motion -- 8.2.4 Example: The DELTA Mechanism -- 8.3 Design Step 2: Kinematic Equations -- 8.3.1 Kinematics: Basic Equations for Design and Operation -- 8.3.2 Example: The DELTA Mechanism -- 8.4 Design Step 3: Dimensioning -- 8.4.1 Isotropy and Singular Positions -- 8.4.2 Example: The DELTA Mechanism -- References -- 9 Actuator Design -- 9.1 General Facts About Actuator Design -- 9.1.1 Overview of Actuator Principles -- 9.1.2 Actuator Selection Aid Based on Its Dynamics -- 9.1.3 Gears -- 9.2 Electrodynamic Actuators -- 9.2.1 The Electrodynamic Effect and Its Influencing Variables -- 9.2.2 Actual Actuator Design -- 9.2.3 Actuator Electronics 3.1.4 Measurement Setup and Equipment -- 3.1.5 Models -- 3.1.6 Modeling Parameters -- 3.1.7 Comparison with Existing Models -- 3.1.8 Final Remarks on Impedances -- 3.2 The User as a Measure of Quality -- 3.2.1 Resolution of Haptic Systems -- 3.2.2 Errors and Reproducibility -- 3.2.3 Quality of Haptic Interaction -- References -- 4 Development of Haptic Systems -- 4.1 Application of Mechatronic Design Principles to Haptic Systems -- 4.1.1 Stage 1: System Requirements -- 4.1.2 Stage 2: System Design -- 4.1.3 Stage 3: Modeling and Design of Components -- 4.1.4 Stage 4: Realization and Verification of Components and System -- 4.1.5 Stage 5: Validation of the Haptic System -- 4.2 General Design Goals -- 4.3 Technical Descriptions of Parts and System Components -- 4.3.1 Single Input, Single Output Descriptions -- 4.3.2 Network Parameter Description -- 4.3.3 Finite Element Methods -- 4.3.4 Description of Kinematic Structures -- References -- Part IIDesigning Haptic Systems -- 5 Identification of Requirements -- 5.1 Definition of Application: The Right Questions to Ask -- 5.1.1 Experiments with the Customer -- 5.1.2 General Design Guidelines -- 5.2 Interaction Analysis -- 5.3 Technical Solution Clusters -- 5.3.1 Cluster 192: Kinaesthetic -- 5.3.2 Cluster 193: Surface-Tactile -- 5.3.3 Cluster 194: Vibro-Tactile -- 5.3.4 Cluster 195: Vibro-Directional -- 5.3.5 Cluster 196: Omnidirectional -- 5.3.6 General Requirement Sources -- 5.4 Safety Requirements -- 5.4.1 Safety Standards -- 5.4.2 Definition of Safety Requirements from Risk Analysis -- 5.5 Requirement Specifications of a Haptic System -- References -- 6 General System Structures -- 6.1 Open-Loop Impedance Controlled -- 6.2 Closed-Loop Impedance Controlled -- 6.3 Open-Loop Admittance Controlled -- 6.4 Closed-Loop Admittance Controlled Devices 13.2 Task-Centered Evaluation Methods 11.1.2 Bandwidth in a Simulator System -- 11.1.3 Data Rates and Latencies -- 11.2 Concepts for Bandwidth Reduction -- 11.2.1 Analysis of the Required Dynamics -- 11.2.2 Local Haptic Model in the Controller -- 11.2.3 Event-Based Haptics -- 11.2.4 Movement Extrapolation -- 11.2.5 Compensation of Extreme Dead Times -- 11.2.6 Compression -- 11.3 Technical Standard Interfaces -- 11.3.1 Serial Port -- 11.3.2 Parallel Port -- 11.3.3 USB -- 11.3.4 FireWire: IEEE1394 -- 11.3.5 Ethernet -- 11.3.6 Measurement Equipment and Multifunctional Interface Cards -- 11.3.7 HIL Systems -- 11.4 Final Remarks on Interface Technology -- References -- 12 Software Design for Virtual Reality Applications -- 12.1 Overview About the Subject ``Virtual Reality'' -- 12.1.1 Immersion -- 12.1.2 Natural Interaction -- 12.1.3 Natural Object Behavior -- 12.2 Design and Architecture of VR Systems -- 12.2.1 Hardware Components -- 12.2.2 Device Integration and Device Abstraction -- 12.2.3 Software Components -- 12.2.4 Simulation -- 12.2.5 Subsystems for Rendering -- 12.2.6 Decoupling of the Haptic Renderer from Other Sense Modalities -- 12.2.7 Haptic Interaction Metaphors -- 12.3 Algorithms -- 12.3.1 Virtual Wall -- 12.3.2 ``Penalty'' Methods -- 12.3.3 Constraint-Based Methods -- 12.3.4 6 DoF Interaction: Voxmap-PointShell Algorithm -- 12.3.5 Collision Detection -- 12.4 Software Packages for Haptic Applications -- 12.5 Perception-Based Concepts for VR software -- 12.5.1 Event-Based Haptics -- 12.5.2 Pseudo-haptic Feedback -- 12.6 Conclusion -- References -- 13 Evaluation of Haptic Systems -- 13.1 System-Centered Evaluation Methods -- 13.1.1 Workspace -- 13.1.2 Output Force-Depending Values -- 13.1.3 Output Motion-Depending Values -- 13.1.4 Mechanical Properties -- 13.1.5 Impedance Measurements -- 13.1.6 Special Properties -- 13.1.7 Measurement of Psychophysical Parameters 9.2.4 Examples for Electrodynamic Actuators in Haptic Devices -- 9.2.5 Conclusion About the Design of Electrodynamic Actuators -- 9.3 Piezoelectric Actuators -- 9.3.1 The Piezoelectric Effect -- 9.3.2 Designs and Properties of Piezoelectric Actuators -- 9.3.3 Design of Piezoelectric Actuators for Haptic Systems -- 9.3.4 Procedure for the Design of Piezoelectric Actuators -- 9.3.5 Piezoelectric Actuators in Haptic Systems -- 9.4 Electromagnetic Actuators -- 9.4.1 Magnetic Energy -- 9.4.2 Design of Magnetic Circuits -- 9.4.3 Examples for Electromagnetic Actuators -- 9.4.4 Magnetic Actuators in Haptic Devices -- 9.4.5 Conclusion on the Design of Magnetic Actuators -- 9.5 Electrostatic Actuators -- 9.5.1 Definition of Electric Field -- 9.5.2 Designs of Capacitive Actuators with Air-Gap -- 9.5.3 Dielectric Elastomer Actuators -- 9.5.4 Designs of Dielectric Elastomer Actuators -- 9.5.5 Electrorheological Fluids -- 9.6 Special Designs of Haptic Actuators -- 9.6.1 Haptic-Kinaesthetic Devices -- 9.6.2 Haptic-Tactile Devices -- References -- 10 Sensor Design -- 10.1 Force Sensors -- 10.1.1 Constraints -- 10.1.2 Sensing Principles -- 10.1.3 Selection of a Suitable Sensor -- 10.2 Positioning Sensors -- 10.2.1 Basic Principles of Position Measurement -- 10.2.2 Requirements in the Context of Haptics -- 10.2.3 Optical Sensors -- 10.2.4 Magnetic Sensors -- 10.2.5 Other Displacement Sensors -- 10.2.6 Electronics for Absolute Positions Sensors -- 10.2.7 Acceleration and Velocity Measurement -- 10.2.8 Conclusion on Position Measurement -- 10.3 Touch Sensors -- 10.3.1 Resistive Touch Sensors -- 10.3.2 Capacitive Touch Sensors -- 10.3.3 Other Principles -- 10.4 Imaging Sensors -- 10.5 Conclusion -- References -- 11 Interface Design -- 11.1 Border Frequency of the Transmission Chain -- 11.1.1 Bandwidth in a Telemanipulation System Intro -- Series Editors' Foreword -- Preface -- Contents -- Symbols -- Abbreviations -- Contributors -- Further Contributions -- Part IBasics -- 1 Motivation and Application of Haptic Systems -- 1.1 Philosophical and Social Aspects -- 1.1.1 Haptics as a Physical Being's Boundary -- 1.1.2 Formation of the Sense of Touch -- 1.1.3 Touchable Art and Haptic Aesthetics -- 1.2 Technical Definitions of Haptics -- 1.2.1 Definitions of Haptic Interactions -- 1.2.2 Taxonomy of Haptic Perception -- 1.3 Application Areas of Haptic Systems -- 1.3.1 Telepresence, Teleaction, and Assistive Systems -- 1.3.2 Virtual Environments -- 1.3.3 Noninvasive Medical Applications -- 1.3.4 Communication -- 1.3.5 Why Use a Haptic System? -- 1.4 Conclusions -- References -- 2 Haptics as an Interaction Modality -- 2.1 Haptic Perception -- 2.1.1 Physiological Basis -- 2.1.2 Psychophysical Description of Perception -- 2.1.3 Characteristic Values of Haptic Perception -- 2.1.4 Further Aspects of Haptic Perception -- 2.2 Concepts of Interaction -- 2.2.1 Haptic Exploration of Objects -- 2.2.2 Active and Passive Touch -- 2.2.3 Gestures -- 2.2.4 Human Movement Capabilities -- 2.3 Interaction Using Haptic Systems -- 2.3.1 Haptic Displays and General Input Devices -- 2.3.2 Assistive Systems -- 2.3.3 Haptic Interfaces -- 2.3.4 Manipulators -- 2.3.5 Teleoperators -- 2.3.6 Comanipulators -- 2.3.7 Haptic System Control -- 2.4 Engineering Conclusions -- 2.4.1 A Frequency-Dependent Model of Haptic Properties -- 2.4.2 Stiffnesses -- 2.4.3 One Kilohertz: Significance for the Mechanical Design -- 2.4.4 Perception-Inspired Concepts for Haptic System Design -- References -- 3 The User's Role in Haptic System Design -- 3.1 The User as Mechanical Load -- 3.1.1 Mapping of Frequency Ranges onto the User's Mechanical Model -- 3.1.2 Modeling the Mechanical Impedance -- 3.1.3 Grips and Grasps |
| Title | Engineering haptic devices : a beginner's guide |
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