Multi-point Interaction with Real and Virtual Objects

By: Federico Barbagli (Editor), Domenico Prattichizzo (Editor), Kenneth Salisbury (Editor)

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Hardcover | 1 August 2005

At a Glance

Hardcover
300 Pages

Dimensions(cm)
23.39 x 15.6 x 1.75

Hardcover

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The problem of robotic and virtual interaction with physical objects has been the subject of research for many years in both the robotic manipulation and haptics communities. Both communities have focused much attention on human touch-based perception and manipulation, modelling contact between real or virtual hands and objects, or mechanism design. However, as a whole, these problems have not yet been addressed from a unified perspective. This edited book is the outcome of a well-attended workshop which brought together leading scholars from various branches of the robotics, virtual-reality, and human studies communities during the 2004 IEEE International Conference on Robotics and Automation. It covers some of the most challenging problems on the forefront of today's research on physical interaction with real and virtual objects, with special emphasis on modelling contacts between objects, grasp planning algorithms, haptic perception, and advanced design of hands, devices and interfaces.

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Contact modelling for grasp planning and haptic rendering
Rapid collision dynamics for multiple contacts with friction	p. 3
Does torque minimization yield a stable human grasp?	p. 21
Dynamic proxies and haptic constraints	p. 41
Modelling and controlling the compliance of a robotic hand with soft finger-pads	p. 55
Grasping control
Grasp synthesis from example : tuning the example to a task or object	p. 77
Efficient and precise grasp planning for real world objects	p. 91
Toward sensorless acquisition of multiple contact points between planar parts	p. 113
Semi-autonomous human-robot interaction for people with disability	p. 131
Haptic perception
On observing contact states in overconstrained manipulation	p. 151
Tactile flow and haptic discrimination of softness	p. 165
Evaluation of multipoint contact interfaces in haptic perception of shapes	p. 177
Contact location trajectory on the fingertip as a sufficient requisite for illusory perception of haptic shape and effect of multiple contacts	p. 189
Design of systems allowing for real or virtual grasping
Haptic interfaces : collocation and coherence issues	p. 201
Intrinsically passive control using sampled data system passivity	p. 215
Effects of gripping and translational forces on teleoperation	p. 231
Design of 100G capturing robot	p. 243
Table of Contents provided by Blackwell. All Rights Reserved.

Multi-point Interaction with Real and Virtual Objects

At a Glance

Hardcover

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