Springer Handbook of Robotics: Chapter 30
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چکیده
The word haptics, believed to be derived from the Greek word haptesthai, means related to the sense of touch. In the psychology and neuroscience literature, haptics is the study of human touch sensing, specifically via kinesthetic (force/position) and cutaneous (tactile) receptors, associated with perception and manipulation. In the robotics and virtual reality literature, haptics is broadly defined as real and simulated touch interactions between robots, humans, and real, remote, or simulated environments, in various combinations. This chapter focuses on the use of specialized robotic devices and their corresponding control, known as haptic interfaces, that allow human operators to experience the sense of touch in remote (teleoperated) or simulated (virtual) environments.
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Notes to Accompany the Slides
Preamble The course is aimed at people who already know how to do elementary rigid-body dynamics using 3D vectors. It follows the treatment of spatial vectors appearing in the book Rigid Body Dynamics Algorithms, which should be consulted for more details. Another source that may be useful is the Springer Handbook of Robotics, Chapter 2. Other materials relating to this course can be found on D...
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