Engineering Haptic Devices (Springer Series on Touch and Haptic Systems) PDF
Preview Engineering Haptic Devices (Springer Series on Touch and Haptic Systems)
Springer Series on Touch and Haptic Systems Thorsten A. Kern Christian Hatzfeld Alireza Abbasimoshaei Editors Engineering Haptic Devices Third Edition Springer Series on Touch and Haptic Systems SeriesEditors ManuelFerre,UniversidadPolitécnicadeMadrid,Madrid,Spain MarcErnst,UlmUniversity,Ulm,Germany AlanWing,UniversityofBirmingham,Birmingham,UK EditorialBoard CarloA.Avizzano,ScuolaSuperioreSant’Anna,Pisa,Italy MassimoBergamasco,ScuolaSuperioreSant’Anna,Pisa,Italy AntonioBicchi,UniversityofPisa,Pisa,Italy JanvanErp,UniversityofTwente,Enschede,TheNetherlands MatthiasHarders,UniversityofInnsbruck,Innsbruck,Austria WilliamS.Harwin,UniversityofReading,Reading,UK VincentHayward,SorbonneUniversité,Paris,France JuanM.Ibarra,Cinvestav,MexicoCity,Mexico AstridM.L.Kappers,EindhovenUniversityofTechnology,Eindhoven,The Netherlands MiguelA.Otaduy,UniversidadReyJuanCarlos,Madrid,Spain AngelikaPeer,LiberaUniversitàdiBolzano,Bolzano,Italy JeromePerret,Haption,Soulgé-sur-Ouette,France DomenicoPrattichizzo,UniversityofSiena,Siena,Italy Jee-HwanRyu,KoreaAdvancedInstituteofScienceandTechnology,Daejeon, Korea(Republicof) Jean-LouisThonnard,UniversitéCatholiquedeLouvain, Ottignies-Louvain-la-Neuve,Belgium YoshihiroTanaka,NagoyaInstituteofTechnology,Nagoya,Japan DangxiaoWang,BeihangUniversity,Beijing,China YuruZhang,BeihangUniversity,Beijing,China TheSpringerSeriesonTouchandHapticSystemsispublishedincollaborationwith theEuroHapticsSociety.Itisfocusedonpublishingnewadvancesanddevelopments inallaspectsofhaptics.Hapticsisamulti-disciplinaryfieldwithresearchersfrom Psychology,Physiology,Neurology,Engineering,andComputerScience(amongst others)contributingtoabetterunderstandingofthesenseoftouch,andresearching intohowtoimproveandreproduceHapticinteractionartificiallyinordertosimulate real scenarios. The series includes monographs focused on specific topics, edited volumes covering general topics from different perspectives, and selected Ph.D. theses.BooksinthisseriesfocusonHapticsorHapticinterfacesincluding: • Neuroscience • Perception&Psychophysics • HapticRendering • DevicesandTechnology • Medical&RehabilitationApplications • Art&DesignApplications • CollaborativeHaptics • MutimodalInteraction • TactileDisplay&Tactiles • Sensing • HapticHCI(Interaction,Visualization) · · Thorsten A. Kern Christian Hatzfeld Alireza Abbasimoshaei Editors Engineering Haptic Devices Third Edition Editors ThorstenA.Kern ChristianHatzfeld InstituteforMechatronics(M-4) InstitutfürElektromechanische HamburgUniversityofTechnology Konstruktionen Hamburg,Germany TechnischeUniversitätDarmstadt Darmstadt,Hessen,Germany AlirezaAbbasimoshaei InstituteforMechatronics(M-4) HamburgUniversityofTechnology Hamburg,Germany ISSN 2192-2977 ISSN 2192-2985 (electronic) SpringerSeriesonTouchandHapticSystems ISBN 978-3-031-04535-6 ISBN 978-3-031-04536-3 (eBook) https://doi.org/10.1007/978-3-031-04536-3 1stedition:Springer-VerlagBerlinHeidelberg2009 2ndedition:Springer-VerlagLondon2014 3rdedition:©TheEditor(s)(ifapplicable)andTheAuthor(s)2023.Thisbookisanopenaccess publication. OpenAccessThisbookislicensedunderthetermsoftheCreativeCommonsAttribution4.0International License(http://creativecommons.org/licenses/by/4.0/),whichpermitsuse,sharing,adaptation,distribu- tionandreproductioninanymediumorformat,aslongasyougiveappropriatecredittotheoriginal author(s)andthesource,providealinktotheCreativeCommonslicenseandindicateifchangeswere made. Theimagesorotherthirdpartymaterialinthisbookareincludedinthebook’sCreativeCommonslicense, unlessindicatedotherwiseinacreditlinetothematerial.Ifmaterialisnotincludedinthebook’sCreative Commonslicenseandyourintendeduseisnotpermittedbystatutoryregulationorexceedsthepermitted use,youwillneedtoobtainpermissiondirectlyfromthecopyrightholder. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthors,andtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressedorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictional claimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland ‘Series Editors’ Foreword This volume of the Springer Series on ‘Touch and Haptic Systems’, published as a collaboration between Springer and the EuroHaptics Society, is significant for several reasons. Engineering Haptic Devices marks a milestone in being the 20th volumeintheserieswhichsawitsfirstvolumespublishedin2011.Thevolumeis alsosignificantforbeingthesecondopen-accesspublicationintheseries.Thiswill helpittoreachthewideraudienceitjustlydeservesandthecommercialsponsorship of Grewus GmbH is greatly appreciated. But most importantly, the volume is a majorrevisionofanearlieredition.Thenewversionisover20%longerwithmany revisedandnewsectionsandnowincludingmanyillustrationsincolour.Thechanges will further reinforce the volume’s position as the only comprehensive textbook approachtothetopicofhapticdeviceswhichcoversboththeuserandthetechnical designofhapticsystems.TheeditorsofEngineeringHapticDevicesareThorstenA. Kern,ChristianHatzfeldandAlirezaAbbasimoshaei.Wearesaddenedbythelossof ChristianHatzfelddeceasedbeforethepublicationofthisbook.Wesuggestthebook representsafittingtributetohiswork.Allthreeeditorscontributedtowritingofthe chapters,joinedbyanumberofauthorswithawiderangeofexperienceinhaptics. Thebook,whichcomprises15chaptersplusappendicesandglossary,isdividedin two:PartIprovidesanintroductiontothebasicsofhaptics,andPartIIcoversmost oftheengineeringaspectsrelatedtohapticdevices.ChaptertopicsinPartIinclude motivationfortheuseofhaptics,hapticasaninteractionmodality,userroleinhaptic systems and developing haptic systems. In Part II, topics include identification of requirements,hapticsystemstructures,hapticsystemcontrol,kinematics,actuators, sensors,interface,software,evaluationandcasestudies.EngineeringHapticDevices iswritteninastylethatwillbeaccessibletoresearchers,engineersandhumanfactors v vi ‘SeriesEditors’Foreword practitionersalreadyworkinginhapticsandlookingtousetheworkasareference as well as to students attending advanced undergraduate and graduate courses and seekingacomprehensivegroundinginthiswide-rangingandimportanttopic. Madrid,Spain ManuelFerre Ulm,Germany MarcErnst Birmingham,UK AlanWing March2022 Note from the Book Editors The idea for this book was born in 2003. Originally conceived as a supplement to Thorsten A. Kern’s dissertation, it was intended to fill a gap: The regrettably small number of comprehensive, summary publications on haptics available to, for example, a technically interested person who is confronted for the first time with the task of designing a haptic device. In 2004, apart from a considerable numberofconferenceproceedings,journalsanddissertations,therewasnodocument summarisingthemostimportantfindingsofthischallengingtopic. The support of several colleagues, especially Prof. Dr.-Ing. Dr. med. Ronald Blechschmidt-Trapp and Dr.-Ing. Christoph Doerrer, helped to develop the idea further in the following years—and showed that this book had to become much more extensive than originally expected. With encouragement from Prof. Dr.-Ing. habil.RolandWerthschützky,thefirsteditionwaseditedbyThorstenA.Kernduring aPost-docperiod.ItwasfundedbytheGermanResearchFoundation(DFG,grant KE1456/1-1)withaspecialfocusonconsolidatingthedesignmethodologyforhaptic devices.Thankstothisfunding,thefinancialbasisforthistaskwasguaranteed.The structure of the topic made it clear that the book would be significantly improved by contributions from specialists in different fields. In 2008, the German version EntwicklungHaptischerGeräteandin2009theEnglishversionEngineeringHaptic DeviceswerepublishedbySpringer. In 2010, the idea of a second edition of the book was born. With Kern’s move fromuniversitytoanindustrialemployer,attentionalsoshiftedfrommainlykinaes- thetictotactiledevices.Thismadeseveregapsinthefirsteditioneminent.Inparallel, sciencemadegreatstridesinunderstandingtheindividualtactilemodalitiesandblur- ringtheboundariesbetweendifferentconceptualapproachestothesameperception. This now provided an opportunity to take an engineering approach to more than just vibrotactile perception. However, it took until 2013 for work to begin on the secondedition.Inthatyear,ChristianHatzfeldcompletedhisdoctoralthesisonthe perceptionofvibrotactileforces.AlsoinspiredbyProf.Dr.-Ing.habil.RolandWerth- schützky,hetooktheleadineditingthissecondedition.Likethefirstedition,this workwasalsofundedbytheDFG(grantHA7164/1-1),whichunderlinestheimpor- tance ofan adapted designapproach for hapticsystems.Inafruitfulcollaboration vii viii NotefromtheBookEditors betweenSpringerandtheserieseditors,thebookwasintegratedintotheSpringer SeriesonTouchandHapticSystemsaswefeltthatthedesignoftask-specifichaptic interfaceswouldbewellcomplementedbytheotherworksinthisseries. To our regret, our dear friend and editor of the second edition, Dr. Christian Hatzfeld,passedawayin2018afteralosingbattlewithcancer,leavingbehindhis wife and child. The third edition you hold in your hands still contains countless memories and influences from his work, and we are proud and honoured to have beenabletocontinuehiswork. In2020,anewopportunityaroseforthisbookwhenKernreturnedtoacademia asafull-professoratHamburgUniversityofTechnology.Despiteadetourintothe automotiveworldofvisibledisplays,hereturnedtohisscientificrootsandpickedup hisworkagainonthedesignofhapticdevicesandactuators.Thisalsopromptedhim torevisesomeofthecontentofthisbookwithsomedistance,ashenownotonlysees moreclearlyhowtheglobalcommunityhasevolvedandprofessionalised,butalso notices which issues have remained. Dr. Alireza Abbasimoshaei, an experienced researcher who has made his mark in the field of rehabilitation robots, could be motivated to help with the editorial part of the work. Fortunately, we have also foundastrongsupporterofhapticresearchinGrewusGmbH,whichfocusesonthe developmentoftactilesystemsolutions,andwiththeirhelpwehavesucceededin makingthiseditionofthebookanopen-accesspublication. Withthesupportofseveralformerauthorsofthefirstandsecondeditions,aswell assomenewauthorswhohavetakenonkeyrolesinthestructureofthebook,we have been able to revise and update all sections to make the overall content more accessibleandtobetterrepresentthecurrentstateofresearch.However,thebiggest changesandstrongestupdatesoccurredinChap.12withasophisticatedintroduction tohapticandtactilerenderingalgorithms,takingintoaccountthedynamicproperties ofhapticdevices,andinChap.8withfinallyafullintroductiontoserialandparallel kinematicsandtheirspecificswhenitcomestoforcerenderingandwhyhapticsis sodifferentfromgeneralrobotics.Majorupdateshavealsobeenmadetothecontrol Sect.7explainingnowin-depthconceptsofimpedancecontrolforcoupledsystems andsomerealapplicationexamples.Inaddition,wetookcaretoupdateeachchapter andremovemorebugsthanweintroducedwhilerevising. Wethankalltheauthorswhocontributedtothisbook,aswellasallthecolleagues, students,andresearchersinthehapticscommunitywhoprovidedfruitfuldiscussions, examples,andpermissiontoincludetheirwork.Wewouldalsoliketothankallthe researchers around the world who have developed, used, and tested mechatronic devicesandfoundamazingapplicationsforthem.Thisbookwouldnotbepossible withouttheseinspirations,andalthoughwehavetriedtogiveagoodoverview,atthe same timewe are surethat we have overlooked excellent examples that we would have liked to include if only we had known about them. Our special thanks go to ourstudentassistantswhoseworkhelpeduswiththefinalediting:KonikaNarendra Khatri and Nis Willy Köpke. Last but not the least, we would like to single out oneoftheauthorsofthisbook,FadyYoussef,whowasofgreathelptotheeditors withnumerousdiscussionsoncontentandpracticalactions.Especiallyinthevery lastphase,whenwehadtoobtainopen-accesspermissionsforallillustrationsthat NotefromtheBookEditors ix wereadoptedandinspiredbypublicationsfromthehapticscommunity.Withoutthe technicalsupportofthesepeople,suchaworkwouldprobablynothavereachedthis levelofmaturity. Wehopethatthisworkwillfacilitatetheworkofstudentsandengineersinthe excitingandchallengingdevelopmentofhapticsystems,andthatitwillserveasa usefulresourceforalldevelopers,asthefirstandsecondeditionshavealreadydone. Inparticular,wehopethattheopen-accessapproachofthiseditionwillallowawider communitytocriticallydiscussourworkandperhapsgainsomeinspiration. Of course, we would also like to express our condolences to Christian’s family andhopethatweproveworthytocontinuehiswork. Hamburg,Germany ThorstenA.Kern AlirezaAbbasimoshaei
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