Multi-Point Interaction with Real and Virtual Objects

By Federico Barbagli

Book Overview

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.

• Format: Paperback
• Language: English
• ISBN: 3642425895
• ISBN13: 9783642425899
• Release Date: November 2014
• Publisher: Springer
• Length: 282 Pages
• Weight: 0.93 lbs.
• Dimensions: 0.6" x 6.1" x 9.2"