Haptic Rendering for Simulation of Fine Manipulation

Wang, Dangxiao/ Xiao, Jing/ Zhang, Yuru

Springer-Verlag Berlin and Heidelberg GmbH & Co. K（2016/09発売）

• 製本 Paperback:紙装版/ペーパーバック版／ページ数 162 p.
• 言語 ENG
• 商品コード 9783662525203
• DDC分類 003.3

Full Description

This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in many VR-based simulation systems, the book will be of particular interest to researchers and professionals in the areas of surgical simulation, rehabilitation, virtual assembly, and inspection and maintenance.

Contents

1. Introduction.- 2. Configuration-based Optimization Approach.- 3. 6-DoF Haptic Simulation of Geometric Fine Features.- 4. 6-DoF Haptic Simulation of Deformable Objects.- 5. Evaluation of Haptic Rendering Methods.- 6. Application: A Dental Simulator.- 7. Conclusions and Future Work.