Preliminaries

 1   Introduction

 2   "Other" haptics

 3   Classical haptics

 4   Impedance versus admittance

 5   Closed loop control

 6   Impedance control

 7   Admittance control

Implementing admittance control

 8   The mass model

 9   Contact stability

10   Force sensing

11   Friction suppression

12   End stops, PVA limiting and guards

Device design

13   Mechanical device design

14   Controller tuning

15   Safety

User modes

16   User control modes

17   Position control - wrong way

18   Position control - right way

Applications

19   Application overview

20   Master slave control

Haptic rendering

21   Haptic rendering

22   Force fields ( "effects" )

23   Haptic surfaces

24   Haptic objects

25   Implicit objects

26   Shaped end effectors

27   6-DOF rendering

Software architecture

28   Software architecture