Multi-point Interaction with Real and Virtual Objects

• Corporate Author: SpringerLink (Online service)
• Other Authors: Barbagli, Federico (Editor), Prattichizzo, Domenico (Editor), Salisbury, Kenneth (Editor)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2005.
• Series: Springer Tracts in Advanced Robotics, 18
• Subjects: Engineering.; User interfaces (Computer systems).; Artificial intelligence.; Computer simulation.; Computer graphics.; Control engineering.; Robotics.; Mechatronics.; Control.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; User Interfaces and Human Computer Interaction.; Simulation and Modeling.; Computer Graphics.

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...

Table of Contents:

• From the contents: Part I: Contact Modelling for Grasp Planning and Haptic Rendering
• Rapid Collision Dynamics for Multiple Contacts with Friction
• Does Torque Minimization Yield a Stable Human Grasp?- Dynamic Proxies and Haptic Constraints
• Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads
• Part II: Grasping Control
• Grasp Synthesis from Example: Tuning the Example to a Task or Object
• Efficient and Precise Grasp Planning for Real World Objects
• Toward Sensorless Acquisition of Multiple Contact Points Between Planar Parts
• Semi-Autonomous Human-Robot Interaction for People with Disability
• Part III: Haptic Perception
• On Observing Contact States in Overconstrained Manipulation
• Tactile Flow and Haptic Discrimination of Softness
• Evaluation of Multipoint Contact Interfaces in Haptic Perception of Shapes
• Part IV: Design of Systems Allowing for Real or Virtual Grasping
• Haptic Interfaces: Collocation and Coherence Issues.