FORCE & TOUCH FEEDBACK FOR VIRTUAL REALITY Grigore C. Burdea John Wiley & Sons, approx. 339 pp, 18 color plates, 200 drawings and tables,ISBN 0-471-02141-5 (Cloth). 1-800-879-4539; Canada: 1-800-263-1590. (abbreviated) 1 Introduction Terminology From prototypes to commercial applications The Contents Of This Book 2. Haptic sensing and control Haptic sensing Sensory-motor control Sensing and control bandwidth Design implications Conclusions 3. Actuators Electrical Actuators Hydraulic Actuators Pneumatic Actuators Discussion Conclusions 4. Non-Portable Force Feedback Desk-Grounded Masters Floor/Ceiling-Grounded Masters Conclusions 5. Portable Force Feedback Arm Exoskeletons Hand Masters Conclusions 6. Tactile Feedback Interfaces Tactile Sensors Surface Texture and Geometry Feedback Surface Slip Feedback Surface Temperature Feedback Conclusions 7. Physical Modeling Collision Detection Grasping Surface Deformation Surface Mechanical Compliance Surface Smoothness Physical Constraints Conclusions 8. Control of Haptic Interfaces Control Methodology Haptic Feedback "Quality" Distributed Computation Haptic Feedback Programming Conclusions 9. Human Factors Criteria for Assessing Task Performance Force Feedback Tactile Feedback Sensorial Substitution and Redundancy for Force Feedback Simulation Sickness Safety Conclusions 10. Haptic Feedback Applications Medical Applications Entertainment Applications Telerobotic Applications Military Applications Conclusions 11. The Future Novel Actuators Haptic Feedback Suits Large-Volume Simulations Conclusions Bibliography List of Companies and Research Laboratories Index