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8 Scheme of an electric telemanipulator. Sensor Haptic controller Haptic device + User + Object Fig. 9 Haptic assistive system. haptic devices. g. for surgeons, as well as in gaming applications for private use (see also chapter 13). Fig. 10 Haptic simulator. 3 Parameters of Haptic Systems In [156] L AWRENCE defines the transparency T as a factor between impedance as the input source of the haptic interface Z in and the actually felt output impedance Z out of the device. 2 Terms and Terminology Used for the Description of Haptic Systems T= Z in .
G. roughness. Surface properties may range from smooth ceramic like or lacquered surfaces with structural widths in the area of low μ m, to somewhat structured surfaces like coated tables and rough surfaces like coarsely woven cord textiles with mesh apertures in the range of several millimeters. Humans have developed a very typical way how to interact with theses surfaces enabling them to draw conclusions based on the underlying perception mechanism. A human being moves his or her finger along the surface (fig.
Only lately spatially resolved arrays with lateral force generation are receiving an increased interest [142]. 32 2 Terminology A tactile pin-array with excitation in normal skin direction is a haptic device (fig. 13c) mainly addressing the tactile perception. The user is in continuous haptic interaction with the device and receives haptic information coded in changing pin heights. A tactile pin array is a haptic display. In contrast to the systems examined before this time the user’s interaction does not include any user-feedback.