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PAPER PRESENTATION ON

HAPTIC TECHNOLOGY

Submitted by: B.MAHESWARI N.HIMABINDU

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CONTENTS
1. ABSTRACT 2. INTRODUCTION 3. WORKING OF HAPTIC DEVICES ARCHITECTURE OF HAPTIC FEED BACK

4. HAPTIC DEVICES TYPES OF HAPTIC DEVICES LOGITECH WINGMAN FORCE FEEDBACK MOUSE PHANTOM CYBER GLOVE CYBER GRASP

5. APPLICATIONS 6. FUTURE ENHANCEMENT 7. CONCLUSION 8. REFERENCES

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ABSTRACT
In this paper, we define Haptics --a Technology that adds the sense of touch to virtual environments. Users are given the illusion that they are touching or manipulating a real physical object. We discuss a few haptic devices like The Logitech mouse, Phantom and CyberGlove and CyberGrasp in brief. With this technology we can now sit down at a computer terminal and touch objects that exist only in the "mind" of the computer.By using special (joysticks, input/output data gloves, devices or other body. In combination with a visual display, haptics technology can be used to train people for tasks requiring maneuvers. In this paper we explicate how sensors and actuators are used for tracking the position and movement of the haptic device moved by the operator. We mention the different types of force rendering algorithms. Then, we move on to a few applications of Haptic Technology. Finally we conclude by mentioning a few future developments hand-eye coordination, such as surgery and space ship

devices), users can receive feedback from computer applications in the form of felt sensations in the hand or other parts of the .

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Introduction 1 What is Haptics?

Haptics word refers to sensing thee the and manipulationn through touch. The comes The interface from of Greek haptic haptesthai, meaning to touch. history

Architecture for Haptic feedback:

Basic realityy visual,

architecture application auditory,

for

virtual haptic

incorporating andd

feedback.

1 Simulation engine: dates back to the 1950s, when a Responsible for computing the master-slave pair system was virtualal environments behavior over proposed by Goertz (1952). Haptic time. interfaces were established out of 1 Visual, auditory, and haptic thee field of tele- operation, which rendering algorithms: was then employed in the remote Compute the virtual manipulation ofof radioactive environments graphic, sound, materials. The ultimate goal of thee and force responses toward the tele-operation system was user. "transparency". Transducers: That is, an user interacting with the Convert visual, audio, and force masterer device in a master-slave signals from the computer into pair should not be a form the operator can able to distinguish between using perceive. the masterer controller and 1 Rendering: manipulating the actual toolol itself. Process by which Early haptic interface systems desired sensory stimuli are were therefore developed purely imposed on the user to for convey information about a telerobotic applications. virtual haptic object.

Working Devices

of

Haptic

Moreover, haptic rendering algorithms The human operator typically ensure that the haptic devices holds or wears the haptic interface correctly renders such forces on the device feedback and perceives audio audiovisual humannan operator. (computer from

speakers, headphones, and so on) and visual displays (a computer screen or head-mounted display, for example). Audio energy flow and (from visual the channels simulation feature unidirectional information and engine towards the user) whereas, the haptic modality exchanges information and energy in two directions, from and toward the user. This bi directionality 1.) important feature of the haptic and Collision-detection avatars in algorithms the virtual is often referred to as the single most detecttect collisions between objects interaction modality. System An architecture avatar is the for environment and yield information about where, when, and ideally to what extentent collisions and so haptic rendering: (penetrations, indentations, virtual on) on )have occurred. the with interaction force between

representation of the haptic interface 2.) Force-response algorithms compute through which the user physically interacts virtualual environment. Haptic-rendering between the hapticctic the avatars and virtual objects algorithms detected. interface possible the contact forces that would when a collision is

compute the correct interaction forces This force approximates as closely as representation inside the virtualtual normally arise during contact between environment and the virtual objects real objects. populateing the environment. Hardware limitations prevent haptic devices from applying the exact force

computed

by

the

force-response Orientation is thus taken into account, and collisions are determined between simulated probe and virtual

algorithms to the user.

3.) Control algorithms command the the

haptic device in such a way that objects. Collision detection algorithms minimizes the error between ideal and return the intersection point applicable forces. The discrete-time between the ray and the surface of nature of the hapticrendering the simulating object. Computing contact-response forces: Humans perceive contact with realreal algorithms often makes this difficult. The force response algorithms return

values are the actual force and torque objects through sensors (mechanoreceptor)ors) vectors that will be commanded to the located in their skin, joints, tendons, and haptic device. muscles. We make a simple distinction Existing haptic rendering techniques between the information these two types of are currently based upon two main sensors can acquire. principles: "point-interaction" or "ray- 1. based". In point interactions, a single point, usually the distal point of a probe, thimble or stylus employed for direct interaction with the user, is employed in the simulation Tactile information refers to the information acquired through sensors in the skin with particular reference to the spatial distribution of pressure, or moreore generally, tractions, across the contact area. To handle flexible materials like

of fabricric and paper, we sense the collisions. The point penetrates the pressure variation virtual objects, and the depth of across the fingertip. Tactile sensing is of complex indentation is calculated between the also the basis current point and a point on the perceptual tasks like surface of the object. Forces are then medicalic palpation, where physicians physical lockcate hidden anatomical structures models, such as spring stiffness or a and evaluate tissue properties using their hands. spring-damper model. generated according to In ray-based rendering, the user 2. Kinesthetic information refers to the interface mechanism, for example, a information acquired through the sensors in the probe, is modeled as a in environment virtual joints. Interaction forces are normally finite ray. perceived through a combination of these two. the

To

provide

haptic

simulatingion rendered. The same can be done perceive

experience, systems are designed to recreate the haptically. contact forces a user would when touching a real object. There are two types of forces: 1. Forces due to object geometry. 2. Forces due to object surface properties, such as texture and friction. Geometry-dependent forcerendering algorithms: The algorithms first aspires type to of force-rendering the force 2 3 recreate

Controlling forces delivered through haptic interfaces:

Once such forces have been computed, they must be applied to the user. Limitations of haptic device technology, however, have sometimes made applying the forces exact value as computed by force-rendering algorithms impossible. They are as follows: 1 Haptic interfaces can only exert forces with limited magnitude and not equalllly well in all directions Haptic devices arent ideal forrce transducers. An ideal haptic device would render zero impedance withhen simulating movement in free space, and any finite impedance when simulatinging contact with an object featuring suchuch impedance characteristics. The frictionon, inertia, and backlash present in manyost haptic devices prevent them fromom meeting this ideal. 4 A third issue is that haptic-rendering algorithms operate in discrete timesme whereas users operate in continuous times.

interaction a user would feel when touching a frictionless and textureless object. Force-rendering algorithms are also grouped by the number of Degrees-of-freedom (DOF) necessary to describe the interaction force being rendered. Surface property-dependent forcerendering algorithms: All real surfaces contain tiny irregularities or indentations. Higher accuracy, however, sacrifices speed, a critical factor in real-time applications. Any choice of modeling technique must consider this tradeoff. Keeping this trade-off in mind, accurate researchers have developed more haptic-rendering

algorithms for friction. In computer graphics, texture mapping adds realism to computergenerated scenes by projecting a bitmap image onto surfaces being

Finally, haptic device position sensors Admittance haptic devices simulate haveave Consequently, determine occurs It can create stability problems. All of these issues can limit a hapticctic finite where and resolution. mechanical to force are and admittancethey send position. devices used for read attempting

when contact Admittance-based generally

always results in a quantization error. applications requiring high forces in a large workspace.

LOGITECH WINGMAN applications realism. High servo rates FORCE FEEDBACK MOUSE It is attached to a base that are a key issue for stable haptic replaces the mouse mat interaction. and contains the motors used to provide forces back to the user.

Haptic Devices
Types of Haptic devices:

There are two main types of haptic Interface use is to aid computer users who are blind or visually devices: 1 Devices that allow users to touch and manipulate 3dimentional virtual objects. 2 Devices that allow users to "feel" textures of 2-dementional objects. Another interface Impedance mechanical distinction devices haptic is between their disabled; or who learners are by tactile/Kinesthetic

providing a slight resistance at the edges of windows and buttons so that the user can "feel" the Graphical User Interface (GUI). This technology can also provide resistance to textures in images, which enables

haptic computer

intrinsic computer users to "feel" pictures such as maps and drawings. simulate read PHANTOM: The

mechanical behavior. devices impedancethey

position and send force. Simpler to design and much cheaper to produce, impedance-type most common. architectures are PHANTOM provides single point, 3D forcefeedback to the user via a stylus

(or the

thimble) stylus

attached

to

a is

y and z-axis. From the motors there is a cable aluminum linkage, which connects to a passive gimbals which attaches to the thimble or stylus. A gimbal is a device that permits a body freedom of motion in any direction or suspends it so that it will remain level at all times. Used in surgical simulations and remote operation of robotics in hazardous environments that connects to an

moveable

arm. The position of point/fingertip

tracked, and resistive force is applied to it when the device comes into 'contact' with the virtual accurate, force model, ground feedback. The providing referenced physical

working space is determined by the extent of the arm, and a number of models are available to suit different user requirements. three direct current (DC) motors that have sensors and The number of motors the number of particular although most motors. The encoders track the users motion or position along the x, y systems produced have 3 degrees of freedom a phantom system has, corresponds to encoders attached to them.

The phantom system is controlled by Cyber Glove: he position and movement Cyber Glove can sense tof the fingers and wrist. The basic Cyber Glove system includes one Cyber Glove , its instrumentation unit,

serial cable to connect to your host computer, and an executable version of Virtual Hand graphic hand model display and calibration software. The Cyber Glove has a software programmable switch and LED

and z coordinates the motors track the on the wristband to permit the forces exerted on the user along the system software developer to x, provide the Cyber Glove wearer with additional input/output

capability. With the appropriate software, it can be used to interact with systems using hand gestures, and when combined with a tracking device to determine the hand's position in space, it can be used to manipulate virtual objects.

hand, creating the illusion of touching and grasping. called a force control unit calculates how much the exo skeleton resist movement of order to the real hand in assembly should A special computer

The Cyber Grasp is a full hand force- simulate the onscreen action. Each of feedback skeletal which over Glove. a is the exo five actuator motors turns a spool that device, rolls or unrolls a cable. The cable worn conveys the resulting pushes or pulls Cyber to a finger via the exoskeleton. Cyber lightweight

Cyber Grasp:

Grasp consists of mechanical assembly, or exoskeleton, that fits over a motion capture glove. About 20 flexible semiconductor

Applicati ons

Medical training sensors are sewn into the fabric of the applications: glove measure hand, wrist and finger Such training use movement. The sensors send their systems readings to a computer that displays a the Phantoms virtual hand mimicking the real hands force flexes, tilts, dips, waves and swivels. display capabilities to let medical The same program that moves the trainees experience and learn the subtle virtual hand on the screen machinery that exerts real palpable also directs and complex physical interactions needed to the become skillful in their art. A computer based teaching tool has

forces on

been train

developed veterinary

using students

haptic crushing to over

tackles

or

the and

different concrete.

technology to examine the rectalctal palpation. receives touch palpating virtual objects. The teacher can visualize the student's actions on a screen and give training and guidance. Gaming technology: Flight Simulations: Motors and The

vibratingons caused by skateboarding plywood, and, Altogether, more than 500 games use student peripheraleral market in manufacturers of 100 now haptics

bovine reproductive tract, simulating force feedback, and more than 20 excess

feedback from a haptic device while hardware products for gaming. Mobile Phones: Samsung has made a phone, which vibrates, differently for different callers. Motorola too has made haptic phones. Cars: For the past two model years, the BMW 7 series has contained the iDrive (based on Immersion Corp's technology), which uses a small wheel on the console to give haptic feedback so the driver like can control the peripherals stereo, heating,

actuators pushsh, pull, and shake the flight yoke, throttle, rudder pedals, and cockpit shell, replicating all the tactile and kinesthetic cues of real flight Someme examples of the simulators haptic capabilityesti include resistance in the yoke from pulling f a hard dive, the shaking caused by stalls, and the bumps felt when rolling down concrete runway. These flight simulators look

navigation system etc. through menus on a video screen. The firm introduced haptic

and feel so real that a pilot who technology for the X-by-Wire system successfully completes training on a and was showcased at the Alps Show top-of-the-line Level 5 simulator can 2005 in Tokyo. The system consisted immediately start flying a real of a "cockpit" with steering, a gearshift commercialcial airliner. Today, all major video consoles haveave built-in tactile feedback capability. Variousous sports games, for example, let you feel bonenelever and pedals that embed haptic technology, and a remote-control car. Visitors could control a remote control car by operating the steering, gearshift lever and pedals in the cockpit seeing

the screen in front of the cockpit, Force Feedback Provided In which is projected via a camera Web Pages: This underlying assigns technology "generic equipped on the remote control car. Robot Control: For navigation in dynamic a environments or at high speeds, it is often desirable to provide sensor-based collision the avoidance robot scheme on-board

automatically

touch sensations" to common Web page objects, such as hyperlinks, buttons, and menus.

to Haptic torch for the blind: The guarantee safe navigation. Without device, housed in a torch, such a collision avoidance scheme, it detects the distance to objects, would be difficult for the (remote) while a turning dial on which the operator to prevent the robot from user puts his thumb indicates the colliding with obstacles. This is changing distance to an object. primarily due to (1) limited information The pictured device was tested from the robots' sensors, such as and images within a restricted viewing found angle without depth information, which is insufficient for the user's full perception of the environment in which the robot moves, and (2) significant delay in the communication channel between the operator and the robot. Experiments on robot control to be a useful tool.

using haptic devices have shown the effectiveness of haptic feedback in a mobile robot tele operation system for safe navigation in a shared autonomy scenario. CONCLUSION: Haptic is the future for online computing and e-commerce, it will enhance the shopper experience and help online

Future Enhancements:

shopper to feel the merchandise without leave their home. Because of the increasing applications of haptics, the cost of the haptic devices will drop in future. This will be one of the major reasons for commercializing haptics. With many new haptic devices being part of sold a to persons industrial normal companies, haptics will soon be a computer interaction.

REFERENCES:
http://www.immersion.com http://www.logitech.com http://www.sensable.com/produc ts/datafiles/phantom_ghost/Salis bury_Haptics95.pdf http://www.wam.umd.edu/~prma rtin/3degrees/HAPTIC %20TECHNOLOGY1.doc http://www.computer.org/cga/cg 2004/g2024.pdf http://www.dcs.gla.ac.uk/~steph en/papers/EVA2001.pdf http://cda.mrs.umn.edu/~lopezdr /seminar/spring2000/potts.pdf http://www.sensable.com http://www.technologyreview.co m