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