Engineering Haptic Devices A Beginner's Guide for Engineers
Tactile perception and haptics are essential for us, as we gain information about structures and surface properties of physical objects by using the sense of touch. Haptics also enables us to manipulate the physical world. The emphasis of this book is put
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Dr.-Ing. Thorsten A. Kern Editor
Engineering Haptic Devices A Beginner’s Guide for Engineers
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Editor Dr.-Ing. Thorsten A. Kern TU Darmstadt Inst. Elektromechanische Konstruktionen Merckstr. 25 64283 Darmstadt Germany
ISBN 978-3-540-88247-3 e-ISBN 978-3-540-88248-0 DOI 10.1007/978-3-540-88248-0 Springer Dordrecht Heidelberg London New York Library of Congress Control Number: 2009930680 c Springer-Verlag Berlin Heidelberg 2009 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Cover design: WMXDesign GmbH Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
The idea for this book was born in 2003. Originally intended as an addition to my dissertation, it was thought of filling a gap I had noticed: The regrettably small number of comprehensive recapitulating publications on haptics available for, e.g,. a technically interested person, confronted with the task of designing a haptic device for the first time. In 2004, besides a considerable number of conference proceedings, journals or PhD-theses, no document was available giving a summary of the major findings of this challenging subject. Thanks are due to the support provided by colleagues, especially by Prof. Dr.-Ing. Dr.-med Ronald Blechschmidt-Trapp and Dr.-Ing. Christoph Doerrer, enabling me to realize my plan in the following years. While writing my dissertation, I learnt that the areas to be covered by such a book would have to be much more extensive than originally expected. Nevertheless my mentor and supervisor Prof. Dr.-Ing. habil. Roland Werthschützky, to whom I have a special debt, encouraged me to pursue and finish this project during the time as a Post-Doc. It was funded by the DFG (KE1456/1-1) with special regard to the consolidation of our design methodology for haptic devices. Due to this funding the financial basis of this task was guaranteed. The structuring of the themes made clear that the book would be considerably improved by contributions made by specialists of several areas. Thus began the multiauthor project you are holding in your hands. Not only the authors explicitly named contributed to the book, but also former and current colleagues could be won over to a committed co-operation during the projec
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