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.

This book has an aim to present latest applications, trends and developments of virtual reality technologies in three humanities disciplines: in medicine, psychology and pedagogy. Studies show that people in both educational as well as in the medical therapeutic range expect more and more that modern media are included in the corresponding demand and supply structures. For the Internet and various mobile media, associated research and application projects now have fixed key words such as "E-learning" and "E-Mental Health" or "M-Learning", "M-Mental Health". This book aims to contribute to the current state of the corresponding efforts in the area of ??further promising technology - the Virtual Reality - designed to give an overview and secondly to provide a stimulus on specific projects, associated with the hope of giving to scientists and practitioners from the humanities an impulse for their own (further-) development, evaluation and implementation of various VR scenarios in the education and health sectors.

Robot Hands and Multi-Fingered Haptic Interfaces is a monograph focusing on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology.This work discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and control of multi-fingered haptic interfaces; application systems using multi-fingered haptic interfaces; and telecontrol of robot hands using a multi-fingered haptic interface.Robot Hands and Multi-Fingered Haptic Interfaces is intended mainly for readers who have a foundation in basic robot arm engineering. To understand robot hand manipulation, readers must study kinematic constraint models of fingers, hand dynamics with constraints, stability theorems of non-linear control, and multi-fingered hand control — this book will benefit readers' understanding of this full range of issues regarding robot hand manipulation.

Haptic perception – human beings’ active sense of touch – is the most complex of human sensory systems, and has taken on growing importance within varied scientific disciplines as well as in practical industrial fields. This book's international team of authors presents the most comprehensive collection of writings on the subject published to date and cover the results of research as well as practical applications. After an introduction to the theory and history of the field, subsequent chapters are dedicated to the neuro-physiological basics as well as the psychological and clinical neuro-psychological aspects of haptic perception.

This book contains an edited version of the lectures and selected contributions presented during the Advanced Summer Institute (ASI) on "Product Engineering: Tools and Methods based on Virtual Reality" held at Chania (Greece), 30th May - 6th June 2007. The ASI was devoted to the Product Engineering field, with particular attention being given to the aspects related to Virtual Reality (VR) technologies, and their use and added value in engineering.

We are delighted to welcome readers to the proceedings of the 6th Pacific-Rim Conference on Multimedia (PCM). The first PCM was held in Sydney, Australia, in 2000. Since then, it has been hosted successfully by Beijing, China, in 2001, Hsinchu, Taiwan, in 2002, Singapore in 2003, and Tokyo, Japan, in 2004, and finally Jeju, one of the most beautiful and fantastic islands in Korea. This year, we accepted 181 papers out of 570 submissions including regular and special session papers. The acceptance rate of 32% indicates our commitment to ensuring a very high-quality conference. This would not be possible without the full support of the excellent Technical Committee and anonymous reviewers that provided timely and insightful reviews. We would therefore like to thank the Program Committee and all reviewers. The program of this year reflects the current interests of the PCM’s. The accepted papers cover a range of topics, including, all aspects of multimedia, both technical and artistic perspectives and both theoretical and practical issues. The PCM 2005 program covers tutorial sessions and plenary lectures as well as regular presentations in three tracks of oral sessions and a poster session in a single track. We have tried to expand the scope of PCM to the artistic papers which need not to be strictly technical.

Driven by the need to achieve superior control performances for robots with hyper degrees of freedom, the virtual decomposition control approach is thoroughly presented in this book. This approach uses subsystem (such as links and joints of a complex robot) dynamics to conduct control design, while guaranteeing the stability and convergence of the entire complex robot without compromising the rigorousness of the system analysis. The central concept of this approach is the definition of the virtual stability. The stability of the entire complex robot is mathematically equivalent to the virtual stability of every subsystem. This fact allows us to convert a large problem to a few simple problems with mathematical certainty. This book comprises fourteen chapters. The first five chapters form the foundation of this approach. The remaining nine chapters are relatively independent. Starting from Chapter 6, each chapter deals with a particular type of systems including motor/transmission assemblies, hydraulic robots, coordinated multiple robots, space robots, humanoid robots, adaptive teleoperation, and modular robot manipulators. At the end, the extensions of this approach to distributed-parameter systems and to electrical circuits are given, paving the way for other applications to follow. This book is intended for practitioners, researchers, and graduate students who have acquired fundamental knowledge on robotics and control systems and have been committed to achieving the best control performances on complex robotics systems and beyond.