Tele operation systems in which robots are controlled remotely are a potential solution to
performing tasks in remote small and hazardous environments. However there is a big
disadvantage to these systems as the direct connection between the human and the environment
is lost and operators are deprived of their sense of touch. The recreation of touch feedback
through haptic devices is a possible solution however haptic devices are far from perfect and
improving their design is usually a slow trial-and-error process. This book describes 7
scientific studies that try to break this slow loop by using a deductive approach. Through
investigating fundamental properties of human haptic perception using psychophysical paradigms
general knowledge on haptic perception of force position movement and hardness was gained.
The resulting information can be applied to many different haptic devices. Consequently haptic
systems can be more easily designed in an intuitive human-centered way.
