Beschreibung:
Matjaz Mihelj graduated from the Faculty of Electrical Engineering, University of Ljubljana, Slovenia in 1996. In October 1997 he became a research staff member and in October 1998 a teaching assistant for robotic courses in the Laboratory of Biomedical Engineering and Robotics at the Faculty of Electrical Engineering in Ljubljana. He received M.Sc. and D.Sc. degrees in biomedical engineering from the Faculty of Electrical Engineering, University of Ljubljana in 1999 and 2002, respectively. For his diploma thesis he was awarded by the Slovenian Ministry of Science and Technology and ISKRA Holding with the Bedjani award. In 2001 he was a visiting researcher at Tohoku University, Sendai, Japan. From May 2005 till April 2006 he spent one year as a visiting researcher at the Automatic Control Laboratory of the Swiss Federal Institute of Technology (ETH Zurich). The research on the rehabilitation robotics performed at ETH Zurich was awarded with the Swiss Technology Award. Since 2009 he has been affiliated as an associate professor. He gives fifth year control system lectures on the man/machine interaction topic with the main focus on multimodal systems based on haptic devices. His current research interests are in man/machine interaction, haptic interfaces as well as modeling and control of biological systems with the main focus on restoration of lost functions in people with disabilities. Dr. Mihelj is a member of IFMBE and IFESS. Janez Podobnik received the B.Sc. and D.Sc. degrees in electrical engineering from the University of Ljubljana, Slovenia in 2004 and 2009, respectively. He was born in 1980 in Ljubljana, Slovenia. He attended Faculty of Electrical Engineering, University of Ljubljana, Slovenia, where he obtained the B.Sc. degree in Electrical Engineering in 2004. His B.Sc. thesis covered stability of haptic interface. He received a Ph.D. degree from the Faculty of Electrical Engineering, University of Ljubljana in 2009. He is currently a teaching assistant in the Laboratory of Biomedical Engineering and Robotics, at the same faculty. His research interests include various applications of haptic interface.
This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system.
The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation.
The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. Only a careful selection of different kinematic configurations is shown to introduce the reader into this field.
Mathematical models of virtual environment, collision detection and force rendering topics are strongly interrelated and are described in the next two chapters. The interaction with the virtual environment is simulated with a haptic interface. Impedance and admittance based approaches to haptic robot control are presented. Stability issues of haptic interaction are analyzed in details and solutions are proposed for guaranteeing stable and safe operation. Finally, haptic interaction is extended to teleoperation systems. Virtual fixtures which improve the teleoperation and human-robot cooperation in complex environments are covered next and the last chapter presents nanomanipulation as one specific example of teleoperation.
Covering every topic relevant to designing haptic interfaces and teleoperation systems, this text enables readers to engage with more complex approaches including the design of haptic interfaces for specific applications such as nanomanipulation.
Introduces all information for the design of a safe haptic interface
1 Introduction to virtual reality.- 2 Introduction to haptics.- 3 Human haptic system.- 4 Haptic displays.- 5 Collision detection.- 6 Haptic rendering.- 7 Control of haptic interfaces.- 8 Stability analysis of haptic interfaces.- 9 Teleoperation.- 10 Virtual fixtures.- 11 Micro/nanomanipulation.- Index.
