**Meet the editor**

Professor Abdulmotaleb El Saddik is a University Research Chair and Professor in the School of Electrical Engineering and Computer Science at the University of Ottawa. He is an internationally-recognized scholar who has made notable contributions to the knowledge and understanding of multimedia computing, communications and applications - particularly in the

digitization, communication and security of the sense of touch ("haptics") which is a new medium that is significantly changing the way in which human-to-human and human-computer interactions are performed. He has authored and co-authored four books, more than 350 publications and received research grants and contracts totaling more than \$16 Mio. More than 90 researchers were under his mentorships and he received several international awards. He is currently a fellow of the Engineering Institute of Canada, The Canadian Academy of Engineers and IEEE.

Contents

**Preface IX** 

**Part 1 Haptic Perception 1** 

Chapter 2 **Computer Graphic and PHANToM** 

Chapter 4 **Spatial Biases and the Haptic** 

**Part 2 Haptic Rendering 95** 

Chapter 6 **Effective Haptic Rendering** 

Chapter 7 **Sensorized Tools for Haptic Force** 

Frank H. Durgin and Zhi Li

**Haptic Displays: Powerful Tools to** 

Marco Fontana, Emanuele Ruffaldi, Fabio Salasedo and Massimo Bergamasco

Shin Norieda and Katsumi Watanabe

**Method for Complex Interactions 115** 

**Part 3 Haptic Medical Modelling and Applications 131** 

**Feedback in Computer Assisted Surgery 133**  Arne Sieber, Keith Houston, Christian Woegerer, Peter Enoksson, Arianna Menciassi and Paolo Dario

Chapter 3 **On the Integration of Tactile and Force Feedback 47** 

**Experience of Surface Orientation 75** 

Chapter 5 **Abstract Feelings Emerging from Haptic Stimulation 97**  Kohske Takahashi, Hideo Mitsuhashi, Kazuhito Murata,

Josune Hernantes, Iñaki Díaz, Diego Borro and Jorge Juan Gil

Phuong Do, Donald Homa, Ryan Ferguson and Thomas Crawford

**Understand How Humans Perceive Heaviness 25**  Satoru Kawai, Paul H. Faust, Jr. and Christine L. MacKenzie

Chapter 1 **Haptic Concepts 3** 
