Hiroo Iwata
University of Tsukaba
Introduction
Mechanism of Haptics and Methods for Haptic Feedback
Somatic Sensation
Proprioception and Force Display
Exoskeleton Force Displays
Tool-Handling Force Displays
Object-Oriented Force Displays
Passive Props
Proprioception and Full-Body Haptics
Sliding Device
Treadmill
Foot Pad
Pedaling Device
Gesture Recognition of Walking
Skin Sensation and Tactile Display
Technologies in Finger–Hand Haptics
Exoskeleton
Tool-Handling Haptic Interface
Object-Oriented Haptic Interface
The Basics of FEELEX
Design Specification and Implementation of Prototypes
Characteristics of the FEELEX
Technologies in Full-body haptics
Treadmill-Based Locomotion Interface
Treadmill-Based Locomotion Interface
Basic Design of the Torus Treadmill
Mechanism and Performance
Control Algorithm of the Torus Treadmill
Foot-Pad-Based Locomotion Interface
Methods of Presentation of Uneven Surface
Basic Design of the GaitMaster
Control Algorithm of the GaitMaster
Prototype GaitMaster
Applications for Haptic Interface
Applications for Finger–Hand Haptics
Medicine
Three-Dimensional shape modeling
Haptic User Interface
Art
Applications for Locomotion Interfaces
Conclusion and Future Prospects
Safety Issues
Psychology in Haptics
References
Figure 10.1: Desktop force display.
Figure 10.2: Desktop force display.
Figure 10.3: PHANToM.
Figure 10.4: The first prototype of Virtual Perambulator.
Figure 10.5: TreadPort.
Figure 10.6: Desktop force display.
Figure 10.7: Pen-based force display.
Figure 10.8: Mechanical configuration of a pen-based force display.
Figure 10.9: Basic design of FEELEX.
Figure 10.10: Overall view of the FEELEX 1.
Figure 10.11: Piston-crank mechanism.
Figure 10.12: Overall view of the FEELEX 2.
Figure 10.13: Top end of the rods (FEELEX 2).
Figure 10.14: Structure of Torus Treadmill (X motion).
Figure 10.15: Structure of Torus Treadmill (Y motion).
Figure 10.16: The Torus treadmill.
Figure 10.17: Basic Design of the GaitMaster.
Figure 10.18: Canceling an ascending motion.
Figure 10.19: An overall view of the Gait Master.