Flexibility and changeability of assembly processes require a close cooperation between the
worker and the automated assembly system. The interaction between human and robots …

This paper addresses fundamental stability and performance issues associated with haptic
interaction. It generalizes and extends the concept of a virtual coupling network, an artificial …

A simple, fast, and approximate voxel-based approach to 6-DOF haptic rendering is
presented. It can reliably sustain a 1000 Hz haptic refresh rate without resorting to …

The LIMPACT is an exoskeleton developed to be used in identifying the reflex properties of
the arm in stroke survivors. Information on joint reflexes helps in designing optimal patient …

The goal of haptic rendering is to enable a user to touch, feel, and manipulate virtual objects
through a haptic interface. With the introduction of high-fidelity haptic devices (see chap. 5 …

This paper presents theoretical and experimental results on bilateral teleoperation of
multiple mobile slave agents coupled to a single master robot. We first design a passifying …

Minimally invasive surgery and therapy is popularly used both for diagnosis and for surgery.
Teleoperation, a promising surgery, is used to protect the surgeon from X-ray radiation as …

We present an algorithm for fast continuous collision detection between points and signed
distance fields, and demonstrate how to robustly use it for 6-DoF haptic rendering of contact …

Design of haptic systems that guarantee stable interaction is a challenging task. Virtual
environments are typically highly nonlinear-resulting in a nonpassive discrete-time model …

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