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Components of a Haptic Interface


									              Haptic Interfaces
              Virtual Environment (week 11th seminar)

                     Fu Cao
                Marios Panayides
                  Kenny Choo
                 Ioannis Makris
 •   Introduction

 •   Natural Interaction with the VE

 •   Components of HI(Haptic Interface)

 •   Fields where the HI can be used

 •   Variety of devices

 •   Discussion
   What is Haptic Interfaces?
•   A device which allows a user to interact with a computer by
    receiving tactile feed back.

   How do we sense the world?
   Texture, Vibration, Temperature…etc. (Tactile sense)
   Size, Shape, Weight…etc. (Kinesthesia)

   The Neuro-physiology of Touch
   How does our tactile system work?
The Neurophysiology of Touch
 The History of Haptics

 Dates back to 1950s
 Touch Master(1995)
 Impulse Engine
 (Jackson&Rosenberg 1995)
Natural Interaction with
the Virtual Environment
Why use haptic devices?
   Example of regular mouse and “haptically
    enabled” mouse.
What is an HI useful for?
   Depends from the application
   Haptic teleoperation
   Games:rumble packs , change of temperature
   VR: the sense of touch
   Medicine-teleoperators
   Arts: virtual violin

                         LS500 Laparoscopy
                         Simulation Platform
Current cues/signals/hints used in VE
   Audio and visual signals
   Advanced computer graphics
   Advanced audio technology
   Presence?
Haptic Interfaces in the VR field
   Illusion of presence
    Master II-ND virtual reality force-fedback
Haptic cues - Principal of operation
   Tactile sensations
       Pressure, texture, puncture, thermal properties,
        softness, wetness, vibrotactile sensations
   Kinesthetic Sense
       Awareness of one’s body state
       Position, velocity, forces supplied by muscles
   Fundamental to manipulation and locomotion
Human perception and haptic
   1 KHz or more, to satisfy the representation
    theorem and to minimize interaction delay
   What happens if we get below that rate?
Components of a
Haptic Interface
Components of a HI – Sensors & Actuators
   Mechanical forces applied to users and getting feedback from users
       Electromechanical transducers composed of sensors and actuators

   Some examples                    A pneumatic piston
       Electrostatic
       Electromechanical
           Piezoelectric
           Shape-memory
       Rheological Fluid
       Thermal
       Hydraulic
       Pneumatic
       Magnetic
Components of a HI – Sensors & Actuators

     Advances in materials technology created the potential for
      better electromechanical tranducers:

    R.Fletcher, “Force transduction materials for human-technology interfaces,”
    IBM Systems Journal, Volume 35, Numbers 3 & 4, 1996, MIT Media Lab.
Components of a HI – Degrees of Freedom

     Degrees of Freedom
         Phantom allows for 6 degrees of freedom
         3 translational and 3 rotational
         Can simulate different lengths of arm’s movements
Components of a HI - Computational system
      Provides haptic rendering capabilities analogous
       to visual rendering of common graphics systems
      Task is to generate signals that are relevant to a
       specified application
      Modelling as a means of representation of an
      Mapping of the computational task into a data
       processing hierachy
Components of a HI – Simplified Physical Models

   Use of simplified physical models to render haptic
    objects that compete in realism with actual physical
    objects. (Minsky, 1995; Morgenbesser &
    Srinivasan,1996; Robles-De-La-Torre & Hayward,
    2001; Flanagan & Lederman, 2001)

   Alternatively, use ground data recording, storing it
    as a function of state variables and time (Okamura et
    al, 2000)
Fields of use
Some areas of Application

   Graphical User Interfaces
   Scientific Visualization
   Simulation and training
Graphical User Interfaces
   One of the early applications researched.
   Build upon existing GUIs
   Studies have proved increased speed and
    accuracy over traditional GUIs
   X Desktop - Miller and Zeleznik 1998
   Haptic Pen - Lee et al
Graphical User Interfaces
   Artistic painting can benefit from haptic
   UNC dAb
Graphical User Interfaces
   Modelling applications – ArtNova
Scientific Visualisation
   Immersive Visualization
   The nanoManipulator is a good example
Simulation and training
   Dangerous and systems or with limited
    availability can be simulated.
   Several military applications
Simulation and training
   Medical training is another popular
    application [Gibson et al].
Other applications
   Games
   Systems for people with disabilities
   Telerobotics and teleoperation
   Vehicle operation
   Scientific study of touch
Variety of Devices
Variety of Devices

Many many more…
   The CyberGlove System
   Applications
   Virtual reality
    telerobotics
    task training
    medicine
    CAD
   sign language recognition
   video games
   graphical character animation
   music generation
    hand-function analysis
SuperCilia Skin
   So, What do you think.
•   Do you think they are user friendly device?

   Advantages and dis-advantages

   Can you come up with some new applications
    for these devices?

     That is

           THE END

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