Inom utvecklingsområdet Haptic är det fria arbetsområdet för singulariteten viktigare änsjälva singulära punkten när det gäller Haptic-mjukvaran, då användaren spontantförflyttar verktyget för enheten och inte fritt kan planera en bana för att undvikasingulära punkter. En singulär punkt i arbetsområdet tenderar att skapa komplexaförhållanden såsom oändliga krafter och moment i styr- o reglerteknik designen, som ären viktig del i Haptic-applikationen. Det huvudsakliga syftet med denna studie var attupptäcka och undvika olika typer av singulariteter i olika delar av arbetsområdet ochsamtidigt optimera processtiden i ARES Haptic enheten. För kartläggning av det friaarbetsområdet för singulära punkten används simulering och beräkning avarbetsområdet för ARES Haptic enheten. Simuleringen beskrivs med hjälp av tvåmetoder, där den ena metoden är aritmetiska intervallberäkningar för parallellarobotstrukturer och den andra metoden bygger på att samla in stora mängderinformation om arbetsområdet genom simulering.

By analysing Still the water (2014), Radiance (2017) and True Mothers (2020) by Naomi Kawase this essay will look at her work to see how she portrays the experience of being a woman in relation to her community. Looking into her way of using the camera by applying the theory of Haptic visuality allows the spectator to identify themselves in a bodily relationship with the image. By using the camera to closely frame objects of importance for the characters, Kawase leads the spectator to understand the world of the film and enables a more profound understanding of their experience. For the community to be of importance for the women it must be founded in the feeling of security and a confirmation of their feelings. Once secure, the women can express themselves and by that, feminist politics..

As the volumes are entering the world of computer graphics the pure volume visualisation becomes a more important tool in for example research and medical applications. But the advance in Haptics --- force feedback from the computer --- is behind. In volume Haptics no equal to the proxy method so popular in surface Haptics has yet emerged. Some implementations of volume Haptics even use surfaces as intermediate representations so that surface Haptics can be used.The intention of this work was to create natural feeling Haptic feedback from volumetric density data using pure volume Haptics. The Haptic algorithm would be implemented in Reachin API for the Reachin Desktop Display, together with other parts to build up a usable volume visualisation environment.To achieve the feeling of stiffness and friction dependent on tissue type, a proxy based method was developed.

The thesis presents an optimally designed kinematic structure for a new 6-DOF Haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the Haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

I examine how relationships between people and objects are created and continues through contiguity every time one use or touch an object and through participation through use and memories. The aim is to continue a relationship and to keep a communication alive with people beyond time and space, then, now and henceforth. I take advantage of and transform the traces in an object that belonged to someone. Parallel I create new space for bodies to put their mark for the first time. I compare my work with the Nordic Museum's task to preserve the present for the future.

This Master thesis discusses the development of a virtual human soft tissue object for use in exercise applications of various medical procedures.The soft tissue object to be developed shall look like, feel like and behave as living human tissue. It shall give the user a realistic feeling of weight, softness and roughness, and shall behave in a correct way for exercise purposes. The soft tissue model is to be used in a three dimensional stereo graphic environment with Haptic feedback. A prototype for practicing the procedure of inserting a catheter is built. The prototype is used to evaluate the potential of the virtual environment for medical exercise applications, and to assess the realism and usability of the soft tissue object.

Axelopererade personer har svårt att röra sig under några veckor efter operationen. Den som bor i glesbygden och blir opererad i axeln eller armen måste regelbundet åka långa sträckor för att besöka sjukvården och bli undersökt. Frågan är om det går att minska dessa bilturer och samtidigt behålla vårdkvaliteten? Man har kunnat reducera patienternas resande till och från sjukvården med hjälp av en enkel videokonferensanläggning som patienten får låna hem. Med denna utrustning kan patienten upprätta videomöten med vårdpersonalen istället för att åka till sjukvården.