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1、EngineeringHapticDevicesDr.-Ing.ThorstenA.KernEditorEngineeringHapticDevicesABeginnersGuideforEngineers123EditorDr.-Ing.ThorstenA.KernTUDarmstadtInst.ElektromechanischeKonstruktionenMerckstr.2564283DarmstadtGermanyISBN978-3-540-88247-3e-ISBN978-3-540-88248-0DOI10.1007/978-3-5
2、40-88248-0SpringerDordrechtHeidelbergLondonNewYorkLibraryofCongressControlNumber:2009930680cSpringer-VerlagBerlinHeidelberg2009Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseof
3、illustrations,recitation,broadcasting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfro
4、mSpringer.ViolationsareliabletoprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforef
5、reeforgeneraluse.Coverdesign:WMXDesignGmbHPrintedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)Theideaforthisbookwasbornin2003.Originallyintendedasanadditiontomydissertation,itwasthoughtoffillingagapIhadnoticed:Theregrettablysmallnumberofcompre
6、hensiverecapitulatingpublicationsonhapticsavailablefor,e.g,.atechnicallyinterestedperson,confrontedwiththetaskofdesigningahapticdeviceforthefirsttime.In2004,besidesaconsiderablenumberofconferenceproceed-ings,journalsorPhD-theses,nodocumentwasavailablegivingasummaryofthemajorfin
7、dingsofthischallengingsubject.Thanksareduetothesupportprovidedbycolleagues,especiallybyProf.Dr.-Ing.Dr.-medRonaldBlechschmidt-TrappandDr.-Ing.ChristophDoerrer,enablingmetorealizemyplaninthefollowingyears.Whilewritingmydissertation,Ilearntthattheareastobecoveredbysuchabookwoul
8、dhavetobemuchmoreextensivethanoriginallyexpected.Neverthelessmymento
