Preface. 1. Introduction to Haptics. Haptic Devices. Representative Applications of Haptics. Issues in Haptic Rendering. Human Factors. References.
2. Simulation with Contact for Haptic Interaction. Haptic Rendering. Dynamic Motion Models. Contact Space. Impulse Force Resolution. Contact Force Resolution. Combining Haptic and Dynamic Environments. Conclusions. References.
3. Stable Control of Haptics. Overview. Control of Haptics using Time Domain Definition of Passivity. Implementation Issue for Stable High Performance Control. Experimental Results. Future Research Challenges. References.
4. Hardware for Improved Haptic Interface Performance. Rationale. Background. Enhanced Displacement Measurement Resolution. Torque Ripple Elimination. Conclusion. Appendix. Acknowledgment. References.
5. Six-Degrees-of-Freedom Haptic Visualization. Previous Work. Overview. Haptic Rendering of Polygonal Objects. 6-DOF Haptic Visualization of Volumetric Data-sets. System Implementation and Performance. Discussion. Conclusions and Future Work. Acknowledgments. References.
6. Lossy Compression of Haptic Data. Haptic Data. Low-Delay Predictive Coding. Model-Based Coding. Experimental Results, Conclusions, and Future Work. Appendix. Acknowledgments. References.
7. A Robust System for Haptic Collaboration over the Network. Haptics over a Network. Proposal for a Haptic Communication System. Experiment on QoS Measurement. Conclusion. Acknowledgment. References.
8. Haptic Collaboration over the Internet. Virtual Haptic World. Database Synchronization. Local Groups. Conclusions and Future Work. Acknowledgment. References.
9. Perceiving Complex Virtual Scenes without Visual Guidance. Number and Size of Areas of Haptic Contact. Complexity of the Rendered Scene. Performance Improvement Through Practice. Simplification of Complex Scenes. Discussion. References.
10. Perceiving Texture through a Probe. Models of Roughness Perception from Direct Skin Contact. Roughness Perception Through a Probe. Psychophysical Research on Roughness Perception Through a Probe. Conclusions and Future Directions. References.
11. Haptic and Auditory Display in Multimodal Information Systems. Related Literature. Experiment I. Experiment II. Future Research. References.
12. Detection Thresholds for Small Haptic Effects. Methods. Results. Discussion. Acknowledgment. References.
13. Haptic Interfaces to Real and Virtual Surgical Environments. Haptic Interfacing to Real and Virtual Surgical Environments. The UC Berkeley/UC San Francisco Robotic Telesurgical System. The Training Simulator for Minimally Invasive Surgery. Conclusion. Acknowledgments. References.
14. Understanding of User Behavior in Immersive Environments. Data Acquisition. Classification Methods. Performance Evaluation. Related Work. Conclusion and Future Work. Acknowledgments. References.
15. A Haptic Exhibition of Daguerreotype Cases for USC's Fisher Gallery. Haptics for the Museum. Lost and Found: A Haptic Exhibition for USC's Fisher Gallery. Issues in the Acquisition of Three-Dimensional Objects for Museum Display. Acknowledgments. References.
Index. The Editors. 