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I Advances in Haptics Advances in Haptics Edited by Mehrdad Hosseini Zadeh In-Tech intechweb.org Published by In-Teh In-Teh Olajnica 19/2, 32000 Vukovar, Croatia Abstracting and non-profit use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the In-Teh, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2010 In-teh www.intechweb.org Additional copies can be obtained from: [email protected] First published April 2010 Printed in India Technical Editor: Goran Bajac Cover designed by Dino Smrekar Advances in Haptics, Edited by Mehrdad Hosseini Zadeh p. cm. ISBN 978-953-307-093-3 V Preface In everyday life, we use our senses to interact with the environment. We can see, touch, smell, hear and taste the external world surrounding us through interactions that usually occur with an initial contact between an organism and its environment. Particularly, we have physical experiences such as texture, stiffness, and resistance to movement through our sense of touch. To experience these in virtual environments (VEs), computer interfaces are required to enable us to interact with virtual objects. Haptic technology enables computer users to touch and/or manipulate virtual or remote objects in virtual environments or tele-operation systems. If haptic cues (e.g., touch sensations) are displayed in addition to visual and auditory cues, these VEs are called haptic-enabled virtual environments. Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/ engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientific visualization, robot- assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the field of haptics. Authors from around the world present the results of their research on various issues in the field of haptics. The contributions are organized in five sections: Section I deals with the design, control, and analysis of haptic interfaces. Issues such as stability and achievable performance of haptic interfaces are addressed. Stability is one of the main issues in the control of haptic interfaces. Instability might cause an undesirable feeling to the user and unrealistic interaction with the virtual environment. Stability and achievable performance of a haptic system are among the fundamental indices for evaluation of a high- precision stable haptic rendering. VI In Section II, several important issues are addressed in the haptic rendering of haptic-enabled VEs. The contributed chapters in this section deal with the development and enhancement of algorithms and software associated with generating, transmitting, and rendering the feel of virtual objects. Section III covers several human factors studies that investigate the effects of various factors on user perception and performance in various applications of haptics. Haptic applications require interactions between humans and computers. Due to the complexity and variability of the user’s physical motion, it is difficult to generate a precise mathematical description of human motor control behavior. In addition, to ensure that VEs are compatible with users, VE designers need knowledge about human perception to obtain an understanding of design constraints influenced by sensory perception. Thus, human factors studies are required to recognize the limitations and capabilities of the user. Section IV presents topics focusing on various aspects of the haptic interaction between humans and computers. An understanding of the nature of user-computer interaction is essential for the design of haptic interfaces. Several interaction issues are investigated to ensure the effectiveness of haptic interfaces. The results of these studies can improve the design of usable and effective haptic interfaces. Finally, Section V presents recent selected applications in the field of haptics. Mehrdad Hosseini Zadeh, Ph.D Grand Blanc, Michigan April 2010 VII Contents Preface V I. Haptic Interfaces: Design, Control, and Analysis 1. Novel Actuation Methods for High Force Haptics 001 Stephen P. Buerger and Neville Hogan 2. Using Magnetic Levitation for Haptic Interaction 031 Peter Berkelman and Michael Dzadovsky 3. Solving the Correspondence Problem in Haptic/Multisensory Interface Design 047 Charles Spence, Mary K. Ngo, Ju-Hwan Lee and Hong Tan 4. Cartesian Control of a Cable-Driven Haptic Mechanism 075 Martin J.D. Otis, Vincent Duchaine, Greg Billette, Simon Perreault, Clément Gosselin and Denis Laurendeau 5. Stability Boundary and Transparency for Haptic Rendering 103 Iñaki Díaz, Jorge Juan Gil and Thomas Hulin 6. Implementation of a Wireless Haptic Controller for Humanoid Robot Walking 127 Eun-Su Kim, Man-Seok Kim, Johwan Kim, Sang Woo Kim and Jong-Wook Kim 7. Head-Tracking Haptic Computer Interface for the Blind 143 Simon Meers and KorenWard 8. Passivity-based Analysis and Design of Multi-contact Haptic Systems via LMIs 155 Gianni Bianchini, Marcello Orlandesi and Domenico Prattichizzo 9. Analysis and Experimental Study of a 4-DOF Haptic Device 171 Ma and Payandeh 10. A Haptically Enhanced Operational Concept for a Hydraulic Excavator 199 Henning Hayn and Dieter Schwarzmann 11. Five Fingers Haptic Interface Robot HIRO: Design, Rendering, and Applications 221 Osama Halabi and Haruhisa Kawasaki 12. Optimal Design of Haptic Interfaces 241 Volkan Patoglu and Aykut Cihan Satici VIII 13. Transparent and Shaped Stiffness Reflection for Telesurgery 259 BertWillaert, Pauwel Goethals, Dominiek Reynaerts, Hendrik Van Brussel and Emmanuel B. Vander Poorten 14. Mechanism Design of Haptic Devices 283 Han Sung Kim II. Computer Haptics and Haptic Rendering 15. Haptic-Based 3D Carving Simulator 299 Gabriel Telles O’Neill, Won-Sook Lee and Jeff William 16. Manipulation of Dynamically Deformable Object using Impulse-Based Approach 315 Kazuyoshi Tagawa, Koichi Hirota and Michitaka Hirose 17. Haptic Interaction with Complex Models Based on Precomputations 333 Igor Peterlík and Luděk Matyska and Jiří Filipovič 18. A Haptic Modeling System 357 Jeha Ryu and Hyungon Kim 19. Haptic Data Transmission based on the Prediction and Compression 375 Yonghee You and Mee Young Sung III. Human Factors 20. Digitizing literacy: reflections on the haptics of writing 385 Anne Mangen and Jean-Luc Velay 21. Kinesthetic Illusion of Being Pulled Sensation Enables Haptic Navigation for Broad Social Applications 403 Tomohiro Amemiya, Hideyuki Ando and Taro Maeda 22. Perceptual Issues Improve Haptic Systems Performance 415 Marco Vicentini and Debora Botturi 23. Temporal perception of visual-haptic events in multimodal telepresence system 437 Zhuanghua Shi, Heng Zou and Hermann J. Müller 24. On the Influence of Hand Dynamics on Motion Planning of Reaching Movements in Haptic Environments 451 Igor Goncharenko, Mikhail Svinin, Shigeyuki Hosoe and Sven Forstmann 25. Haptic touch and hand ability 463 Miriam Ittyerah 26. Force Scaling as a Function of Object Mass when Lifting with Peripheral Fatigue 481 James C. Larmer, Camille Williams and Heather Carnahan 27. Neuromuscular Analysis as a Guideline in designing Shared Control 499 Abbink D.A. and Mulder M. IX 28. Factors Affecting the Perception-Based Compression of Haptic Data 517 Mehrdad Hosseini Zadeh, David Wang and Eric Kubica IV. Haptic Interaction 29. Real-Time Support of Haptic Interaction by Means of Sampling-Based Path Planning 543 Michael Strolz and Martin Buss 30. Sensory Properties in Fusion of Visual/Haptic Stimuli Using Mixed Reality 565 Itaru Kitahara, Morio Nakahara and Yuichi Ohta 31. Expanding the Scope of Instant Messaging with Bidirectional Haptic Communication 583 Youngjae Kim and Minsoo Hahn 32. Realistic Haptics Interaction in Complex Virtual Environments 603 Hanqiu SUN and Hui CHEN V. Selected Haptic Applications 33. Mapping Workspaces to Virtual Space in Work Using Heterogeneous Haptic Interface Devices 621 Ayano Tatematsu and Yutaka Ishibashi 34. Collaborative Tele-Haptic Application and Its Experiments 637 Qonita M. Shahab, Maria N. Mayangsari and Yong-Moo Kwon 35. Using Haptic Technology to Improve Non-Contact Handling: the “Haptic Tweezer” Concept 649 Ewoud vanWest, Akio Yamamoto and Toshiro Higuchi 36. Haptics and the Biometric Authentication Challenge 675 Andrea Kanneh and Ziad Sakr 37. Haptic virtual reality assembly – Moving towards Real Engineering Applications 693 T. Lim, J.M. Ritchie, R. Sung, Z. Kosmadoudi, Y. Liu and A.G. Thin