HAPTIC INTERACTIONS IN REAL & VIRTUAL WORLD Haptic Interactions In Real & Virtual World

Haptic (n) (hap'tik) [Webster's New World] has the meaning of sense of touch, tactile or having to do with it. Haptics, as a field, dates back to the end of 19th century. But the field has undergone rapid development in the past 10 years with the certain of numerous academic and industrial research groups worldwide and of a lively academic community. The image below shows the relationship between the different areas of haptics. A human (left) senses and controls the position of the fingertip, while a robot (right) exerts forces to simulate contact with a virtual object. Both systems have sensors (nerves, encoders), processors (brain, computer), and actuators (muscles, motors).

Fig1: Depicts the scenario of haptics In human and machines, haptics refers to the use of hands for manual sensing and manipulation. Haptic machines that enable the user to touch, feel and manipulate virtual environments have generated considerable excitement. Virtual environment generally refers to the virtual reality. Haptic interfaces are devices that enable manual interfaces with virtual environments or teleoperated remote systems. They are employed for tasks that are usually performed using hands in the real world, such as manual exploration and manipulation of objects. Applications of this technology include a large variety of human activities such as training, education, entertainment, health care, scientific visualization, telecommunication, design, marketing and manufacturing. As in our interactions to the real world, it is desirable to engage the haptic sensory motor
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HAPTIC INTERACTIONS IN REAL & VIRTUAL WORLD
system that conveys the sense of touch and feels of objects and also to manipulate them. In particular the human hand is a versatile organ that is able to press, grasp, squeeze or stroke objects; it can explore object properties such as surface texture, shape and softness; it can manipulate tools such as a pen or a jack-hammer. The sense of touch i.e. relatively unused in computing. Although computer keyboards, mice, trackballs and even instrumented gloves available in the market can be thought of as relatively simple haptic interfaces, they can only convey the users commands to the computer, and are unable to give a natural sense of touch and feel to the user. Touch is a complex modality consisting of several distinct sensory channels. The human hand is a versatile organ. The mechanical structure of the human hand consists of an intricate arrangement of 19 bones connected by almost as many frictionless joints and covered by soft tissues and skins. The bones are attached to about 20 each of intrinsic and extrinsic muscles through numerous tendons, which serve to activate 22 degrees of freedom of the hand. The sensory system includes large numbers of various classes of receptors and nerve endings in the skin, joints, tendons and muscles. Appropriate mechanical, thermal or chemical stimuli activate these receptors, causing them to transmit electrical impulses via the afferent neural network to the central nervous system. Simulators: User Haptic Device Computer

Manipulation of real objects: User Virtual Handshakes: ; User Haptic Device Computer Haptic Device User Haptic Device Computer Actuator Physical Module

Fig2: Depicts the scenario of haptics in different field

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HAPTIC INTERACTIONS IN REAL & VIRTUAL WORLD
In the area of robotic haptics, we enable robots to explore the world through touch, using specialized robotic fingers and sensors and the appropriate planning and control. In our project we are planning to make remote control based sensed arm that do the movement similar to sensor arm. Through the help of wired connection there will be a information transfer between sensor arm and sensed arm. Our project has the following features: • • • • • Virtual Reality will be the Actual Reality Remote operations will be very simple Controlling Sensing Unmanned Operations will be a Success

In this project the Following Concepts will be covered: 1. Micro controller 8051. 2. Data Acquisition. 3. Sensor Mechanism. 4. DC Motor and stepper motor control through Relay Mechanism 5. Remote Data transfer mechanism.

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HAPTIC INTERACTIONS IN REAL & VIRTUAL WORLD
Proposed Block Diagram:

Glove controlling the Movement of the Robotic Arm and Grip

Micro Controller 1 for Controlling the instructions from the glove

Various sensors trying to find the present status of grip and Arm

Micro Controller 2 for Feedback to Human Arm and Grip

Power Motors Controller Circuit Stepper Motors Controller Circuit

Power Motors

Stepper Motors

Various sensors trying to find the present status of grip and Arm

Figure 1: Figure depicting the Block Diagram of the Haptic Robotic Arm

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HAPTIC INTERACTIONS IN REAL & VIRTUAL WORLD
Our project is divided into two parts and will provide 2DOF (Degrees Of Freedom): 1. Glove for Arm and the Grip. (Module 1) 2. Robotic Arm and Grip. (Module 2) In our device we are using a glove which will be worn on a hand and the buttons on the base of the fingers will be used to send the present status taken from the sensors to the remote arm and thus will be acting as a triggering event. The movement of the Glove Arm and Grip will continuously be monitored by the sensors. The Remote Robotic Arm is fitted with some sensors and the movement details as received from the glove will be performed on the Robotic Arm and Grip mechanism.

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