HAPTIC TECHNOLOGY

HAPTIC

Touch The Virtual

CONTENTS

HISTORY

WORKING

EXAMPLE

ADVANTAGES/DISADVANTAGES

CONCLUSION

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Haptic is derived from a Greek word

haptesthai
In 1950s Goertz proposed a Master-Slave
system.

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Architecture of Haptic Feedback

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Architecture of Haptic Rendering

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Haptic device creates a closed loop between

user and haptic rendering/simulation algorithm.
X(t) and F(t) are continuous time position and
force signal exchanged between haptic device
and user.
X(k) and F(k) are the discrete time position
and force signal exchanged between haptic
device and virtual environment.

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Collision Detection

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Collision Detection
for (j = 0; j < number of objects in the scene; j++)
{
if(x < X_max_j && x> X_min_j && y < y_max_j && y >
Y_j_min)
{
Collision = TRUE;
Collided Object = j;
}
else
Collision = FALSE;
}

Axis Aligned Bounding Box method in 2D

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Oriented Bounding Box in 2D

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Binary Space Partitioning

EXAMPLE HAPTIC DEVICES

Exoskeleton
Treadport
Hand master
Phantom device

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1. EXOSKELETON

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2. Treadport

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3. HAND MASTER

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4. PHANTOM DEVICE

APPLICATION
Surgery
Tele Presence
Aero plane Training
Gaming

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SURGERY

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TELE PRESENCE

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AEROPLANE TRAINING

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GAMING

ADVANTAGES
Communication is centered through touch and
the digital world can behave like the real world.
Working time is reduced since objects can be
captured, manipulated, modified and rescaled
digitally.

Medical field simulators allow would be surgeons

to practice digitally, gaining confidence in the
procedure before working on breathing patients.

DISADVANTAGES
Cost
Portability
Complexity