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We are actually developing applications on the system for verifying the added functionalities of the system for enhancing the interaction between the human and the computer. There are two main application fields already under development: a transfer skill system for teaching [28] how to design to unskilled persons (e.g. children) and a system for aiding people affected by tremor. The first type of application will address the ability of achieving nice drawing of objects from the collection of digital images which are preprocessed for detecting the principal features of the objects (i.e. edges, size, etc.), the focus of the application is centred on the ability to transfer the design skills from the application to the user; in the second type of application a specific filtering strategies [31] is applied as a force controlled feedback to the user hand in order to damp involuntary vibratory movements. 9. References [1] Engelbart Douglas, X-Y Position Indicator for a Display System, Patent Number: US354154, Publication Date: 1970- 11-17. [2] C.P. Thacker, E M McCreight, B.W. Lampson, R.F. Sproull, and D.R. Boggs, Alto: A Personal Computer, Tech Rep CSL-79-11, Palo Alto CA: Xerox Palo Alto Research Center, August 1979. [3] Wellner, Tangible manipulation on a desk top display, ACM Symposium on User Interface Software and Technology ’91, pp. 27-34, 1991. [4] Wellner, Interacting with paper on the Digital Desk, Communication of the ACM, Vol. 36, No. 7, pp. 87-96, 1993. [5] Leibe, Starner, Riarsky, Wartell, Krum, Singletary and Hodges, The perceptive workbench: toward spontaneous and natural interactive in semi-immersive virtual environments, In Proceedings of IEEE Virtual Reality ’00, pp. 13- 20, 2000. [6] Oka, Sato, and Koike, Real-time tracking of multiple fingertips and gesture recognition for augmented desk interface system, In Proceedings of Automatic Face and Gesture Recognition ’02, pp. 411-416, 2002. [7] Koike, Sato and Kobayashi, Integrating paper and digital information on enhancedDesk: a method for real time finger tracking on an augmented desk system, ACM Transactions on Computer-Human Interaction, Vol. 8, No. 4, pp. 307-322, 2001. [8] Rekimoto, Smart skine: an infrastructure for freehand manipulation on interactive surfaces, In Proceedings of ACM Conference on Human Factors and Computing System ’02, pp. 113-120, 2002. c The Eurographics Association 2005. Massimo Bergamasco / Future trends and Applications, Education 36 [9] J.T. Dennerlein and M. Yang, Perceived Musculoskeletal Loading during Use of A Force Computer Mouse, In Proceedings of Human Factors and Ergonomics Conference, Houston, 1999. [10] Ramstein and Hayward, The Pantograph: A Large Workspace Haptic Device For A Multi-modal Human- Computer Interaction, In Proceedings of Conference on Human Factors and Computing System ’94, pp. 57-58, 1994. [11] Kelly and Salcudean. The Development of a Force Feedback Mouse and its Integration into a Graphical User Interface, In Proceedings of the International Mechanical Engineering Congress and Exposition, DSC-Vol. 55-1, pp 287- 294, 1994. [12] Haptic Technologies web site: www.haptech.com. [13] Immersion web site: www.immersion.com. [14] Logitech, Ltd. www.logitech.com. [15] S.A. Wall, K. Paynter, A.M. Shillito, M. Wright and S. Scali, The Effect of Haptic Feedback and Stereo Graphics in a 3D Target Acquisition Task, In Proceedings of Eurohaptics 2002, University of Edinburgh, 8-10th July, pp 23-29. [16] C.A. Avizzano, S. Marcheshi, and M. Bergamasco, Haptic Interfaces: Collocation and Coherence Issues, In Proc. of Multi-point Interaction in Robotics and Virtual Reality, IEEE International Conference in Robotics and Automation, 2004. [17] J. Solis, C.A. Avizzano, and M. Bergamasco, Teaching to Write Japanese Characters using an Haptic Interface, In Proceedings of the 10th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Orlando, FL, 2002. [18] A. Frisoli and M. Bergamasco, Experimental identification and evaluation of performance of a 2 DOF haptic display Robotics and Automation, 2003, In Proceedings of ICRA ’03. IEEE International Conference on,Volume: 3, 14- 19 Sept. 2003 Pages:3260 - 3265 vol.3. [19] C. Ware, J. Rose, Rotating Virtual Objects with Real Handles, ACM Transactions on CHI., 6(2), 1999, pp.162- 180. [20] Reachin web site: www.reachin.se. [21] Thomas, Massie and Salisbury, The PHANTOM Haptic Interface: A Device for Probing Virtual Objects, In Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, IL, Nov. 1994. [22] SenseAble Technologies Inc. 15 Constitution Way Woburn, MA 01801, USA, www.senseable.com.
[23] Intuitive web site: www.intuitivesurgical.com. [24] Bredson, Ikits, Johnson and Hansen, The Visual Haptic Workbench, In Proceedings of Fifth PHANTOM Users Group Workshop ’00, pp. 46-49, 2000. [25] Pangaro, Maynes-Aminzade and Ishii, The actuated workbench: computer-controlled actuation in tabletop tangible interfaces, In Proceedings of ACM Symposium on User Interface Software and Technology ’02, pp. 181-190, 2002. [26] Noma, Yanagida and Tetsutani, The Proactive Desk: A New Force Display System for a Digital Desk Using a 2- DOF Linear Induction Motor, In Proceedings of the IEEE Virtual Reality 2003. [27] H. Margrethe, H. Olson and C. Lucas, The impact of office automation on the organization: some implications for research and practice, Communications of the ACM, Vol. 2, Issue 11, 1982, pp. 838-847. [28] P. Baumgarter and I. Bergner, Categorization of virtual learning activities, Eden Conference, Oldenburg, 2004. [29] G. Jansson and M. Öström The Effects of Co-location of Visual and Haptic Space on Judgments of Form EuroHaptics 2004. [30] A. Frisoli, M. Prisco, F. Salsedo and M. Bergamasco, A two degrees-of-freedom planar haptic interface with high kinematic isotropy, Robot and Human Interaction, 1999. RO-MAN ’99. 8th IEEE International Workshop on , 27-29 Sept. 1999. Pages: 297 - 302. [31] C.A. Avizzano and M. Bergamasco, Technological aids for the treatment of the tremor, ICORR, Stanford, 1999. Massimo Bergamasco / Future trends and Applications, Education 37 c The Eurographics Association 2005.
Page 1 and 2: EUROGRAPHICS 2005 Tutorial Multimod
Page 3 and 4: EUROGRAPHICS 2005 Tutorial Abstract
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Page 7 and 8: LDOF# HDOF# VHDOF# Complexity Class
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Page 11 and 12: Contact Areas F 1 F2 Figure 10: The
Page 13 and 14: contact point, c we know that all t
Page 15 and 16: Figure 17: Anthropomorphic kinemati
Page 17 and 18: Thirdly, although the EFF is fully
Page 19 and 20: Figure 22: An example of arm trajec
Page 21 and 22: Figure 27: Differential tendon tens
Page 23 and 24: [16]. T. H. Massie and J. K. Salisb
Page 25 and 26: choice, when it is not requested to
Page 27 and 28: Figure 4: The Dual point HI: GRAB d
Page 29 and 30: Massimo Bergamasco / Haptic Interfa
Page 31 and 32: In 1991, Wellner proposed for the f
Page 33 and 34: number all over the workspace when
Page 35: 6. EMPLOYMENT OF THE SYSTEM The dev
Page 39 and 40: formula, instead of a system of dif
Page 41 and 42: Until a relative motion between the
Page 43 and 44: force (kg), position (cm) 8 7 6 5 4
Page 45 and 46: EUROGRAPHICS 2005 Tutorial A novel
Page 47 and 48: G. Cini, A. Frisoli, S. Marcheschi,
Page 53 and 54: Figure 1: Overview of the GRAB syst
Page 55 and 56: actual position within the environm
Page 57 and 58: training opportunities. During the
Page 59 and 60: EUROGRAPHICS 2005 Tutorial 1. abstr
Page 61 and 62: Table 1: Summary of GRAB features F
Page 63 and 64: Table 3: Finger force vectors Symbo
Page 65 and 66: the relative position did not match
Page 67 and 68: operator’s arm allows assessing t
Page 69 and 70: Figure 6: The pinching haptic inter
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Page 73 and 74: contact area, while the collision d
Page 75 and 76: 6.5. Results 6.5.1. Haptic experien
Page 77 and 78: Familiarity with VR systems and wit
Page 79: [18]. Gregory AD, Ehman SA, Ling MC

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