1. Robotic Applications: Haptic Technology By: Sam McDonald April 17, 2015

2. Introduction to Haptic Technology “Tactile feedback technology which recreates the sense of touch by applying forces, vibration, or motions to the user.”[1] Haptic – comes from the Greek ἁπτικός (haptikos) Meaning “pertaining to the sense of touch” [2] Robot Dynamics needed: Size motors Create force sensations Geomatic PHANTOM Premium 1.5 Cost: ~$30K

3. Introduction to Haptic Technology Force Dimension Omega3 Cost: ~$5K Novint Falcon Cost: $250

4. Haptic Device Design Most, but not all, are parallel mechanisms Higher stiffness More accurate forces Tactile feedback (wearables, handhelds, etc.) PS4 game controller Tactile belt for military

5. Haptic Technology in Industry - Moog Moog developed the Simodont Dental Trainer https://www.youtube.com/watch?v=OUnng6phcxw

6. Simodont Dental Trainer Complex parallel mechanism Full spectrum of forces Very firm Very delicate Cost: > $40K

7. Simodont Limitations Costly for most dentistry schools Limited range of motion of handheld drills

8. Impact Dental Training and Certification Haptics and Robotics Industry New advanced control technology Absolute zero virtual friction Gravity compensation

9. References [1] - Gabriel Robles-De-La-Torre. “International Society for Haptics: Haptic technology, an animated explanation.” Isfh.org. Retrieved 2010-02-26. [2] - http://en.wikipedia.org/wiki/Haptic_technology [3] - http://www.forcedimension.com/products/omega-3/gallery/58http://www.forcedimension.com/products/omega-3/gallery/58 [4] - http://www.novint.com/index.php/novintfalconhttp://www.novint.com/index.php/novintfalcon [5] - http://www.midetechnologies.com/piezo/actuator/tactical-haptic-array-2/http://www.midetechnologies.com/piezo/actuator/tactical-haptic-array-2/ [6] - https://www.evilcontrollers.com/ps4-controller-creator.htmlhttps://www.evilcontrollers.com/ps4-controller-creator.html [7] - http://www.moog.com/literature/ICD/Datasheet_Moog_Simodont_Dental_Trainer.pdfhttp://www.moog.com/literature/ICD/Datasheet_Moog_Simodont_Dental_Trainer.pdf