2. Haptic Interfaces Virtual Environment (week 11th seminar) Presenters: Fu Cao Marios Panayides Kenny Choo Ioannis Makris

3. Preview Introduction Natural Interaction with the VE Components of HI(Haptic Interface) Fields where the HI can be used Variety of devices Discussion

4. Introduction  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?

5. The Neurophysiology of Touch

6. Introduction The History of Haptics  Dates back to 1950s  GROPE(1972)  Atkinson(1977)  Touch Master(1995)  PHANTOM(1996)  Impulse Engine  (Jackson&Rosenberg 1995)

7. Natural Interaction with the Virtual Environment

8. Why use haptic devices?  Example of regular mouse and “haptically enabled” mouse.

9. 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

10. Current cues/signals/hints used in VE  Audio and visual signals  Advanced computer graphics  Advanced audio technology  Presence?

11. Haptic Interfaces in the VR field  Illusion of presence Master II-ND virtual reality force-fedback glove

12. 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

13. Human perception and haptic interfaces  1 KHz or more, to satisfy the representation theorem and to minimize interaction delay  What happens if we get below that rate?

14. Components of a Haptic Interface

15. Components of a HI – Sensors & Actuators  Some examples Electrostatic Electromechanical  Piezoelectric  Shape-memory alloys Rheological Fluid Thermal Hydraulic Pneumatic Magnetic  Mechanical forces applied to users and getting feedback from users Electromechanical transducers composed of sensors and actuators A pneumatic piston

16. 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.

17. 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

18. 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 environment Mapping of the computational task into a data processing hierachy

19. 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)

20. Fields of use

21. Some areas of Application  Graphical User Interfaces  Scientific Visualization  Simulation and training

22. 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

23. Graphical User Interfaces  Artistic painting can benefit from haptic interaction.  UNC dAb

24. Graphical User Interfaces  Modelling applications – ArtNova

25. Scientific Visualisation  Immersive Visualization  The nanoManipulator is a good example

26. Simulation and training  Dangerous and systems or with limited availability can be simulated.  Several military applications

27. Simulation and training  Medical training is another popular application [Gibson et al].

28. Other applications  Games  Systems for people with disabilities  Telerobotics and teleoperation  Vehicle operation  Scientific study of touch

29. Devices

30. Variety of Devices

31. Many many more …

32. CyberGlove®  The CyberGlove System  Applications  Virtual reality  telerobotics  task training  medicine  CAD  sign language recognition  video games  graphical character animation  music generation  hand-function analysis

33. SuperCilia Skin

34. Discussion  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?

35. So…  That is THE END