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1. Fundamentals of Haptic Rendering
1.1 Introduction
1.2 Computational Challenges
1.3 Psychophysics of Haptics
1.4 Stability and Transparency
1.5 Three-DoF Haptic Rendering
1.6 Chapter Outline
2. Six-DoF Haptic Rendering Methodologies
2.1 Rigid-Body Simulation
2.2 Direct Rendering
2.3 Simulation-Based Rendering
2.4 Multirate Methodologies
3. Collision Detection Methods
3.1 Broad versus Narrow Phase
3.2 Proximity Queries between Convex Polyhedra
3.3 Hierarchical Collision Detection
3.4 Penetration Depth
3.5 Methods Based on Discretization
3.6 Multiresolution Collision Detection
4. Haptic Texture Rendering
4.1 Three-DoF Haptic Texture Rendering
4.2 Perceptually Driven Force Model
4.3 Penetration Depth between Textured Models
4.4 Discussion
Future Directions
5.1 Force Feedback Devices
5.2 Deformable Bodies
5.3 Evaluation and Validation
5.4 Potential Applications
Bibliography
Biographies |
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