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IMA Workshop on Haptics, VR, and HCI Overview John Hollerbach School of Computing University of Utah
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What Are Haptic Interfaces? “ Haptic interfaces refers to interfaces involving the human hand and to manual sensing and manipulation.” (Durlach et al., 1994) A haptic interface is comprised of –A mechanical position tracker –Actuated joints This is just a robot attached to a human
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Where forces have been applied: Traditional haptics: arms and hands Foot haptics: Sarcos Biport Whole-body haptics: Sarcos Treadport Haptic interfaces are robots that apply forces to the body to display information.
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Traditional Haptic Interfaces Ground based Body based
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Foot Haptics (locomotion interface) Sarcos BiportIwata’s GaitMaster
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Whole-Body Haptics Sarcos Treadport II
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A Thin Line Separates Other Robots that Apply Forces to Humans Programmable exercise machines Rehabilitation robots Assist devices Powered exoskeletons
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Haptic Interfaces in Teleoperation or Virtual Reality Teleoperation Avatar
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Why Haptics and VR? The most general HCI will involve haptics, not just vision and sound. There are a lot more computers to be interfaced than telemanipulators.
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A Typical VR System Haptic Interface User Visual Interface Arm Model World Model Geometry Dynamics Force rendering Auditory Interface
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Technical Issues Devices Specification Design Control Simulation High-fidelity for objects Low-fidelity for haptics Transparency Stability
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The Device Angle for VR Precise registration to a simulation Human factors for device use Cost and proliferation Novelty factor
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The Simulation Angle: Real-Time Requirements Visual displays: 30-60Hz Haptic displays: 1kHz, 1msec lag –High-frequency contact transients –Control instability
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Haptics for VR is not new! Teleoperation predictor displays Impelled by cheap, powerful PCs Proliferated by haptics companies and innovations in research labs
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But What are the Applications? Computer games Medicine Mechanical design ???
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Haptics Symposium #1-9 held in conjunction with ASME winter annual meeting #10 to be held in conjunction with IEEE VR, March 24-25, 2002, in Orlando.
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