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Haptics_seminar_report

Haptics_seminar_report

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Published by: monty083 on Mar 09, 2011
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04/15/2011

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HAPTICS SEMINAR REPORT
Dept of Telecommunication, Sir MVIT Page 1
Contents
 
INTRODUCTION
........................................................................................................................... 3
1.1.
 
What is ¶Haptics·?
........................................................................................................... 3
1.2.
 
History of Haptics
........................................................................................................... 3
W
ORKING OF HAPTIC SYSTEMS
............................................................................................... 5
2.1.
 
Basic system configuration:
................................................................................................ 5
2.2.
 
aptic Information:
............................................................................................................ 6
2.3.
 
Creation of Virtual environment (Virtual reality)
.............................................................. 6
2.4.
 
aptic feedback
.................................................................................................................. 8
HAPTIC RENDERING
................................................................................................................. 10
3.1.
 
Principle of haptic interface:
............................................................................................. 10
3.2.
 
Characteristics commonly considered desirable for haptic interface devices
.......... 10
3.3.
 
Creation of an AVATAR
.................................................................................................. 11
3.4.
 
System architecture for haptic rendering
.......................................................................... 11
3.5.
 
Computing contact-response forces
................................................................................... 14
3
.6.
 
G
eometry-dependant force-rendering algorithms
.............................................................. 14
3.7.
 
Surface property-dependent force-rendering algorithms
.................................................... 15
3.8.
 
aptic interaction techniques
.......................................................................................... 16
HAPTIC DEVICES
........................................................................................................................ 17
4.1. Virtual reality/ Telerobotics based devices
......................................................................... 17
4.2. Feedback devices
............................................................................................................... 17
4.1.1.
 
Exoskeletons and Stationary devices
........................................................................ 17
4.1.2
 
G
loves and wearable devices
..................................................................................... 18
4.1.3
 
Point sources and specific task devices
..................................................................... 18
4.1.4
 
Locomotion interfaces
.............................................................................................. 18
4.2.1
 
Force feedback devices
.............................................................................................. 19
4.2.2
 
Tactile display devices
.............................................................................................. 19
COMMONLY USED HAPTIC INTERFACING DEVICES
........................................................ 20
5.1.
 
Phantom
........................................................................................................................... 20
5.2.
 
Cyberglove
 
.................................................................................................................... 22
5.2.1.
 
Mechanical structure of a Cyberglove
....................................................................... 23
5.2.2.
 
Control of Cyberglove
.............................................................................................. 24
 
HAPTICS SEMINAR REPORT
Dept of Telecommunication, Sir MVIT Page 2
APPLICATIONS
........................................................................................................................... 26
6
.1.
 
G
raphical user interfaces
.................................................................................................. 26
6
.2.
 
Surgical Simulation and Medical Training
...................................................................... 27
6
.3.
 
Military Training in virtual environment
.
...................................................................... 28
6.
3
.1.
 
G
round Vehicle Simulators
....................................................................................... 30
6
.4.
 
Telerobotics
...................................................................................................................... 31
LIMITATIONS OF HAPTIC SYSTEMS
....................................................................................... 32
FUTURE VISION
.......................................................................................................................... 34
CONCLUSION
............................................................................................................................. 36
BIBLIOGRAPHY
........................................................................................................................... 37
 
HAPTICS SEMINAR REPORT
Dept of Telecommunication, Sir MVIT Page 3
CHAPTER
1
 
INTRODUCTION
 
1.1.
 
What is ¶Haptics·?
Haptic
 
technology
 
refers to technology that interfaces the user with aVirtual environment via the sense of touch by applying forces, vibrations, and/ormotions to the user
.
This mechanical stimulation may be used to assist in thecreation of virtual objects (objects existing only in a computer simulation), for controlof such virtual objects, and to enhance the remote control of machines and devices(teleoperators)
.
This emerging technology promises to have widereachingapplications as it already has in some fields
.
For example, haptic technology hasmade it possible to investigate in detail how the human sense of touch works byallowing the creation of carefully controlled haptic virtual objects
.
These objects areused to systematically probe human haptic capabilities, which would otherwise bedifficult to achieve
.
These new research tools contribute to our understanding ofhow touch and its underlying brain functions work
.
Although haptic devices arecapable of measuring bulk or reactive forces that are applied by the user, it shouldnot to be confused with touch or tactile sensors that measure the pressure or forceexerted by the user to the interface
.
 The term haptic originated from the Greek word

(
haptikos
), meaningpertaining to the sense of touch and comes from the Greek verb

(
haptesthai)
meaning to ´contactµ or ´touchµ
.
 
1.2.
 
History of Haptics
In the early
20
th century, psychophysicists introduced the word
haptics
to label thesubfield of their studies that addressed human touch-based perception andmanipulation
.
In the
1970
s and
1980
s, significant research efforts in a completelydifferent field, robotics also began to focus on manipulation and perception by

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