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1、Multi-ÞngerHapticInteractionSpringerSeriesonTouchandHapticSystemsSeriesEditorsManuelFerreMarcO.ErnstAlanWingSeriesEditorialBoardCarloA.AvizzanoJosM.AzornSoledadBallesterosMassimoBergamascoAntonioBicchiMartinBussJanvanErpMatthiasHardersWilliamS.HarwinVincentHaywa
2、rdJuanM.IbarraAstridKappersAbderrahmaneKheddarMiguelA.OtaduyAngelikaPeerJeromePerretJean-LouisThonnardForfurthervolumes:www.springer.com/series/8786IgnacioGalianaManuelFerreEditorsMulti-ÞngerHapticInteractionEditorsIgnacioGalianaManuelFerreCentreforAutomationan
3、dRoboticsCentreforAutomationandRoboticsUPM-CSICUPM-CSICUniversidadPolitcnicadeMadridUniversidadPolitcnicadeMadridMadrid,SpainMadrid,SpainISSN2192-2977ISSN2192-2985(electronic)SpringerSeriesonTouchandHapticSystemsISBN978-1-4471-5203-3ISBN978-1-4471-5204-0(eBook)D
4、OI10.1007/978-1-4471-5204-0SpringerLondonHeidelbergNewYorkDordrechtLibraryofCongressControlNumber:2013939584©Springer-VerlagLondon2013Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthematerialisconcerned,speciÞcallytherigh
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7、ispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisherÕslocation,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.PermissionsforusemaybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violationsareliabletoprosecutionundert
8、herespectiveCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspeciÞcstatement
