Titlebook: Haptics for Virtual Reality and Teleoperation; Matjaž Mihelj,Janez Podobnik Book 2012 Springer Science+Business Media Dordrecht 2012 Hapti

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Introduction to Haptics,tactile senses, which provide awareness of the stimuli on the surface of the body and kinesthetic senses, which provide information about body pose and movement. Its bidirectional nature is the most prominent feature of haptic interaction, which enables exchange of (mechanical) energy—and therefore

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Collision Detection, a haptic interface, the new tool pose is computed and possible collisions with objects in a virtual environment are determined. In case of a contact, reaction forces are computed based on the environment model and force feedback is provided to the user via the haptic display. Collision detection gu

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Haptic Rendering,onment and displaying of this information to a human user via a haptic interface. Computer haptics deals with models and properties of virtual objects, as well as algorithms for displaying haptic feedback in real time.

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Control of Haptic Interfaces,nts that are either modeled or measured can be used as an input signal to the controller of the haptic interface. Selection of control strategy (impedance or admittance control) depends on the available hardware and software architectures as well as on the planned use of the haptic interface.

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