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.
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