There has been significant progress in the performance evaluation and control of low power impedance-based haptic devices. While recent research efforts have focussed in the design and development of high power haptic devices, there is a lot of potential to develop performance evaluation techniques and alternative control approaches to improve the performance and stability, specifically for high power admittance-based and hybrid actuation haptic interfaces. We present an analytical model developed to investigate the performance limitations of admittance-based haptic interfaces. The model is used to investigate the effects that position control bandwidth and outer loop delay have on the stability and rendering range of an admittance-based interface. We show that the performance, as defined by both the minimum renderable mass and the rendering frequency range, is directly related to the closed-loop bandwidth of the inner-position loop and the amount of additional delay in the outer rendering loop. Our results are validated using a one degree-of-freedom admittance-based device. Evaluating the transparency or output impedance more generally, of admittance-type haptic devices is challenging due to their inherently non-back-drivable mechanical characteristics. To address this, we describe a new, simplified evaluation approach that eliminates the need for external test fixtures. The simplified approach relies on the easily obtainable closed-loop position control response of the device in combination with a device/system dynamic model. In addition to evaluating output impedance, the approach can be used to evaluate the overall stable rendering range of the device. Finally, the limitations of the approach are discussed. Hybrid actuation approaches for haptic interfaces generally suffer from asymmetry in rendering and torque capabilities. We describe the design of a high-performance balanced hybrid haptic device, which addresses asymmetry by combining a high-power, low-impedance active compliant actuation (series-elastic actuator) with energy absorbing high-force passive actuation in parallel with a fast, low-power secondary active actuation. We describe the actuation, design and control approaches and experimentally validate the approach with a one degree-of-freedom testbed. The performance is compared with active only approach and results show significant improvements in stability and rendering range of the device.

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.

Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.

This book is the first resource to provide in-depth coverage on topical areas of assistive, rehabilitative, and health-related applications for haptic (touch-based) technologies. Application topics are grouped into thematic areas spanning haptic devices for sensory impairments, health and well-being, and physical impairments which are illustrated in this book. A diverse group of experts in the field were invited to contribute different chapters to provide complementary and multidisciplinary perspectives. Unlike other books on haptics, which focus on human haptic perception, specific modalities of haptics (e.g., realistic haptic rendering), or broadly cover the subfields of haptics, this book takes an application-oriented approach to present a tour of how the field of haptics has been advanced with respect to important, impactful thematic focuses. Under Theme 1 “Sensory Impairments”, haptics technologies to support individuals with sensory impairments is presented which includes: Spatial awareness in sensory impairments through touch; Haptically-assisted interfaces for persons with visual impairments; and Enabling learning experiences for visually impaired children by interaction design. Under Theme 2 “Haptics for Health and Well-Being”, haptics technologies aimed at supporting exercise and healthy aging will be covered including: Haptics in rehabilitation, exergames and health; Therapeutic haptics for mental health and well-being; and Applications of haptics in medicine. Under Theme 3 “Haptics for Physical Impairments”, haptics technologies for enhancing the quality of life for individuals with weakened/impaired limbs or neurological diseases impacting movement is targeted including: Assistive soft exoskeletons with pneumatic artificial muscles; Haptics for accessibility in rehabilitative hardware; and intelligent robotics and immersive displays for enhancing haptic interaction in physical rehabilitation environments. Engineers, scientists, and researchers working in the areas of haptics, multimedia, virtual/augmented/mixed-reality, human-computer interaction, assistive technologies, rehabilitative technologies, healthcare technologies, and/or actuator design will want to purchase this book. Advanced level students and hobbyists interested in haptics will also be interested in this book.

This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.