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1、HapticsTechnologiesSpringerSeriesonTouchandHapticSystemsSeriesEditorsManuelFerreMarcO.ErnstAlanWingSeriesEditorialBoardCarloA.AvizzanoJos´eM.Azor´ınSoledadBallesterosMassimoBergamascoAntonioBicchiMartinBussJanvanErpMatthiasHardersWilliamS.HarwinVincentHaywardJuanM.IbarraAstridKappersAb
2、derrahmaneKheddarChrisMcManusMiguelA.OtaduyAngelikaPeerTrudyPeltonJeromePerretJean-LouisThonnardForothertitlespublishedinthisseries,gotowww.springer.com/series/8786AbdulmotalebElSaddikMauricioOrozcoMohamadEidJongeunChaHapticsTechnologiesBringingTouchtoMultimedia123AbdulmotalebElSaddikM
3、auricioOrozcoMohamadEidJongeunChaUniversityofOttawaSchoolofInformationTechnologyandEngineering800KingEdwardAve.Ottawa,ONK1N6N5Canadaelsaddik@mcrlab.uottawa.camorozco@discover.uottawa.cameid@site.uottawa.cajcha@discover.uottawa.caISSN2192-2977e-ISSN2192-2985ISBN978-3-642-22657-1e-ISBN97
4、8-3-642-22658-8DOI10.1007/978-3-642-22658-8SpringerHeidelbergDordrechtLondonNewYorkLibraryofCongressControlNumber:2011936300cSpringer-VerlagBerlinHeidelberg2011Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftransla
5、tion,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalways
6、beobtainedfromSpringer.ViolationsareliabletoprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandtherefo
7、refreeforgeneraluse.Coverdesign:deblikPrintedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)Formysweetheartsforthejoytheybringme.Tomyfellowlearners(teachersandstudents)inthelifelonglearningjourney.AbdulmotalebElSaddikTomyparents,MariaandmydaughtersVale