Synopsis
I Some Basics of Haptics.- Motivation and Application of Haptic Systems.- Terminology.- Biological Basics of Haptic Perception.- Modeling the User.- Internal Structure of Haptic Systems.- II Designing Haptic Systems.- Identification of Requirements.- Control of Haptic Systems.- Kinematic Design.- Actuator Design.- Force Sensor Design.- Application of Positioning Sensors.- Interface Selection.- Software Design.- Final Remarks on the Design of Haptic Systems.- III Appendix.- URLs.- Mechanical Impedances and Admittances for Translatory and Rotatory Systems.- Details about Gyrators and Transformers.- Impedance Values of Grasps.
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