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**3** 

*Italy* 

**On the Integration of** 

Marco Fontana, Emanuele Ruffaldi,

**Tactile and Force Feedback** 

Fabio Salasedo and Massimo Bergamasco *PERCRO Laboratory - Scuola Superiore Sant'Anna,* 

Haptic interfaces promise to add a new channel to digital communication, through the exploitation of the sense of touch, beside the traditional sense of sight and of hearing. Nonetheless, even if they firstly appeared on the market in the early nineties, they haven't spread yet in the society as a consumer product. This is not due to the intrinsic nature of the sense of touch that is a very sophisticated sensorial system, able to perceive fine and complex time and spatial varying characteristics of the outer world, but to the limited capabilities of the nowadays available haptic systems. Indeed, if from one side they allow quite realistic rendering of "mediated contacts" (i.e. contact of an object mediated by a specific tool like a pen, scissors, screw driver etc.), on the other side they are less effective for the rendering of cases of interaction in which the human limbs contact directly the object (direct contact). The main limitation lays in the lack of a proper simultaneous elicitation of

In this chapter we provide a review of the main problems and possible solutions for the realization of a complete hardware and software system that integrates kinaesthetic and tactile devices. We provide an analysis of the direct contact interaction and of possible

We analyze the mechanical design aspects (Machine Haptics) and software computational issues (Computer Haptics) that arise when tactile and kinaesthetic device have to be

In the last section of this chapter we present a case study focussed on the realization of a complete integrated system for the simulation of haptic interaction with virtual textiles.

**1.1 Integration of tactile and kinesthetic feedback toward direct contact simulation**  Tasks that involve direct contact between hand and objects are the most complex manipulative actions that humans can perform. Human ability of exploring, grasping and manipulating tools and objects relies on superior morphological and physical properties of our hands. A sophisticated system of bone, joints and tendon allow our hands to perform

HW/SW architectural solutions for the implementation of a haptic system.

complex movement and to control accurately interaction forces.

**1. Introduction** 

kinesthetic and tactile cues.

integrated.

