self study haptics

8/2/2019 Self Study Haptics

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Introduction

Hapticsrefers to the sense of touch (from Greek = "I fasten onto, I touch"). It is a

form of nonverbal communication. Haptic technology, or haptics, is a tactile feedback

technology which takes advantage of the sense of touch by applying forces, vibrations,or motions to the user. This mechanical stimulation can be used to assist in the creation

of virtual objects in a computer simulation to control such virtual objects, and to

enhance the remote control of machines and devices (telerobotics). It has been

described as "doing for the sense of touch what computer graphics does for

vision".Haptic devices may incorporate tactile sensors that measure forces exerted by

the user on the interface.

Haptic technology has made it possible to investigate how the human sense of touch

works by allowing the creation of carefully controlled haptic virtual objects. These

objects are used to systematically probe human haptic capabilities, which would

otherwise be difficult to achieve. These research tools contribute to the understanding

of how touch and its underlying brain functions work.

Haptic Technology

History

One of the earliest applications of haptic technology was in large aircraft that use

servomechanism systems to operate control surfaces. Such systems tend to be "one-

way", meaning external forces applied aerodynamically to the control surfaces are not

perceived at the controls. Here, the missing normal forces are simulated with springsand weights. In earlier, lighter aircraft without servo systems, as the aircraft approached

a stall the aerodynamic buffeting (vibrations) was felt in the pilot's controls. This was a

useful warning of a dangerous flight condition. This control shake is not felt when servo

control systems are used. To replace this missing sensory cue, the angle of attack is

measured, and when it approaches the critical stall point a "stick shaker" (an

unbalanced rotating mass) is engaged which simulates the response of a simpler control

system. Alternatively, the servo force may be measured and the signal directed to a

servo system on the control, known asforce feedback. Force feedback has been

implemented experimentally in some excavators and is useful when excavating mixed

material such as large rocks embedded in silt or clay. It allows the operator to "feel" and


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work around unseen obstacles, enabling significant increases in productivity.The

PHANTOM interface from SensAble Technologies was one of the first haptic systems to

be sold commercially. Its success lies in its simplicity. Instead of trying to display

information from many different points, this haptic device simulates touching at a single

point of contact. It achieves this through a stylus which is connected to a lamp-like arm.

Three small motors give force feedback to the user by exerting pressure on the stylus.So, a user can feel the elasticity of a virtual balloon or the solidity of a brick wall. He or

she can also feel texture, temperature and weight. The stylus can be customized so that

it closely resembles just about any object. For example, it can be fitted with a syringe

attachment to simulate what it feels like to pierce skin and muscle when giving a shot.

The CyberGrasp system, another commercially available haptic interface from

Immersion Corporation, takes a different approach. This device fits over the user's

entire hand like an exoskeleton and adds resistive force feedback to each finger. Five

actuators produce the forces, which are transmitted along tendons that connect the

fingertips to the exoskeleton. With the CyberGrasp system, users are able to feel the

size and shape of virtual objects that only exist in a computer-generated world. To make

sure a user's fingers don't penetrate or crush a virtual solid object, the actuators can be

individually programmed to match the object's physical properties.

Areas Of Haptic technology

If you thought the Apple iPhone was amazing, then feast your eyes -- and fingers -- on

this phone from Samsung. Dubbed the Anycall Haptic, the phone features a large touch-

screen display just like the iPhone. But it does Apple's revolutionary gadget one better,

at least for now: It enables users to feel clicks, vibrations and other tactile input. In all, itprovides the user with 22 kinds of touch sensations.

Those sensations explain the use of the term haptic in the name. Haptic is from the

Greek "haptesthai," meaning to touch. As an adjective, it means relating to or based on

the sense of touch. As a noun, usually used in a plural form (haptics), it means the

science and physiology of the sense of touch. Scientists have studied haptics for

decades, and they know quite a bit about the biology of touch. They know, for example,

what kind of receptors are in the skin and how nerves shuttle information back and

forth between the central nervous system and the point of contact.

Unfortunately, computer scientists have had great difficulty transferring this basicunderstanding of touch into their virtual reality systems. Visual and auditory cues are

easy to replicate in computer-generated models, but tactile cues are more problematic.

It is almost impossible to enable a user to feel something happening in the computer's

mind through a typical interface. Sure, keyboards allow users to type in words, and

joysticks and steering wheels can vibrate. But how can a user touch what's inside the

virtual world? How, for example, can a video game player feel the hard, cold steel of his

or her character's weapon? How can an astronaut, training in a computer simulator, feel

the weight and rough texture of a virtual moon rock?


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Since the 1980s, computer scientists have been trying to answer these questions. Their

field is a specialized subset of haptics known as computer haptics. As a field of study,

haptics has closely paralleled the rise and evolution of automation. Before the industrial

revolution, scientists focused on how living things experienced touch. Biologists learned

that even simple organisms, such as jellyfish and worms, possessed sophisticated touch

responses. In the early part of the 20th century, psychologists and medical researchersactively studied how humans experience touch. Appropriately so, this branch of science

became known as human haptics, and it revealed that the human hand, the primary

structure associated with the sense of touch, was extraordinarily complex.

With 27 bones and 40 muscles, including muscles located in the forearm, the hand

offers tremendous dexterity. Scientists quantify this dexterity using a concept known as

degrees of freedom. A degree of freedom is movement afforded by a single joint.

Because the human hand contains 22 joints, it allows movement with 22 degrees of

freedom. The skin covering the hand is also rich with receptors and nerves, components

of the nervous system that communicate touch sensations to the brain and spinal cord.

Then came the development of machines and robots. These mechanical devices also

had to touch and feel their environment, so researchers began to study how this

sensation could be transferred to machines. The era ofmachine haptics had begun. The

earliest machines that allowed haptic interaction with remote objects were simple

lever-and-cable-actuated tongs placed at the end of a pole. By moving, orienting and

squeezing a pistol grip, a worker could remotely control tongs, which could be used to

grab, move and manipulate an object.

In the 1940s, these relatively crude remote manipulation systems were improved to

serve the nuclear and hazardous material industries. Through a machine interface,workers could manipulate toxic and dangerous substances without risking exposure.

Eventually, scientists developed designs that replaced mechanical connections with

motors and electronic signals. This made it possible to communicate even subtle hand

actions to a remote manipulator more efficiently than ever before.

The next big advance arrived in the form of the electronic computer. At first, computers

were used to control machines in a real environment (think of the computer that

controls a factory robot in an auto assembly plant). But by the 1980s, computers could

generate virtual environments -- 3-D worlds into which users could be cast. In these

early virtual environments, users could receive stimuli through sight and sound only.

Haptic interaction with simulated objects would remain limited for many years.

Then, in 1993, the Artificial Intelligence Laboratory at the Massachusetts Institute of

Technology (MIT) constructed a device that delivered haptic stimulation, finally making

it possible to touch and feel a computer-generated object. The scientists working on the

project began to describe their area of research as computer haptics to differentiate it

from machine and human haptics. Today, computer haptics is defined as the systems

required -- both hardware and software -- to render the touch and feel of virtual

objects. It is a rapidly growing field that is yielding a number of promising haptic

technologies.


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Computer Human machine Interface

Types Of Haptic Feedback

When we use our hands to explore the world around us, we receive two types of

feedback -- kinesthetic and tactile. To understand the difference between the two,

consider a hand that reaches for, picks up and explores a baseball As the hand reachesfor the ball and adjusts its shape to grasp, a unique set of data points describing joint

angle, muscle length and tension is generated. This information is collected by a

specialized group of receptors embedded in muscles, tendons and joints.

Known as proprioceptors, these receptors carry signals to the brain, where they are

processed by the somatosensory region of the cerebral cortex. The muscle spindle is

one type of proprioceptor that provides information about changes in muscle length.

The Golgi tendon organ is another type of proprioceptor that provides information

about changes in muscle tension. The brain processes this kinesthetic information to

provide a sense of the baseball's gross size and shape, as well as its position relative tothe hand, arm and body.

When the fingers touch the ball, contact is made between the finger pads and the ball

surface. Each finger pad is a complex sensory structure containing receptors both in the

skin and in the underlying tissue. There are many types of these receptors, one for each

type of stimulus: light touch, heavy touch, pressure, vibration and pain. The data coming

collectively from these receptors helps the brain understand subtle tactile details about

the ball. As the fingers explore, they sense the smoother texture of the leather, the

raised coarseness of the laces and the hardness of the ball as force is applied. Even the

thermal properties of the ball are sensed through tactile receptors.

Force feedback is a term often used to describe tactile and/or kinesthetic feedback. As

our baseball example illustrates, force feedback is vastly complex. Yet, if a person is to

feel a virtual object with any fidelity, force feedback is exactly the kind of information

the person must receive. Computer scientists began working on devices -- haptic

interface devices -- that would allow users to feel virtual objects via force feedback.

Early attempts were not successful. But as we'll see in the next section, a new


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generation of haptic interface devices is delivering an unsurpassed level of performance,

fidelity and ease of use.

Haptic DevicesHaptic devices (or haptic interfaces) are mechanical devices that mediate

communication between the user and the computer. Haptic devices allow users to

touch, feel and manipulate three-dimensional objects in virtual environments and tele-

operated systems. Most common computer interface devices, such as basic mice and

joysticks, are input-only devices, meaning that they track a user's physical manipulations

but provide no manual feedback. As a result, information flows in only one direction,

from the peripheral to the computer. Haptic devices are input-output devices, meaning

that they track a user's physical manipulations (input) and provide realistic touch

sensations coordinated with on-screen events (output) . Examples of haptic devices

include consumer peripheral devices equipped with special motors and sensors (e.g.,

force feedback joysticks and steering wheels) and more sophisticated devices designed

for industrial, medical or scientific applications (e.g., PHANTOM device).

Haptic interfaces are relatively sophisticated devices. As a user manipulates the end

effector, grip or handle on a haptic device, encoder output is transmitted to an interface

controller at very high rates. Here the information is processed to determine the

position of the end effector. The position is then sent to the host computer running a

supporting software application. If the supporting software determines that a reaction

force is required, the host computer sends feedback forces to the device. Actuators

(motors within the device) apply these forces based on mathematical models thatsimulate the desired sensations. For example, when simulating the feel of a rigid wall

with a force feedback joystick, motors within the joystick apply forces that simulate the

feel of encountering the wall. As the user moves the joystick to penetrate the wall, the

motors apply a force that resists the penetration. The farther the user penetrates the

wall, the harder the motors push back to force the joystick back to the wall surface. The

end result is a sensation that feels like a physical encounter with an obstacle.

The human sensorial characteristics impose much faster refresh rates for haptic

feedback than for visual feedback. Computer graphics has for many years contended

itself with low scene refresh rates of 20 to 30 frames/sec. In contrast, tactile sensors in


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the skin respond best to vibrations higher that 300 Hz. This order-of-magnitude

difference between haptics and vision bandwidths requires that the haptic interface

incorporate a dedicated controller. Because it is computationally expensive to convert

encoder data to end effector position and translate motor torques into directional

forces, a haptic device will usually have its own dedicated processor. This removes

computation costs associated with haptics and the host computer can dedicate itsprocessing power to application requirements, such as rendering high-level graphics.

General-purpose commercial haptic interfaces used today can be classified as either

ground-based devices (force reflecting joysticks and linkage-based devices) or body-

based devices (gloves, suits, exoskeletal devices). The most popular design on the

market is a linkage-based system, which consists of a robotic arm attached to a pen (see

Figure 1). The arm tracks the position of the pen and is capable of exerting a force on

the tip of this pen. To meet the haptic demands required to fool ones sense of touch,

sophisticated hardware and software are required to determine the proper joint angles

and torques necessary to exert a single point of force on the tip of the pen. Not only is itdifficult to control force output because of the update demand, the mass of a robotic

arm introduces inertial forces that must accounted for. As a result, the cost of a linkage-

based force feedback device ranges from $10,000 to over $100,000.

Figure 1. PHANTOM Desktop from SensAble Technologies is a popular linkage-based haptic device. The position

and orientation of the pen are tracked through encoders in the robotic arm. Three degrees of force, in the x, yand

z, direction are achieved through motors that apply torques at each joint in the robotic arm.

An alternative to a linkage-based device is one that is tension-based. Instead of applying

force through links, cables are connected to the point of contact in order to exert a

force. Encoders determine the length of each cable. From this information, the position

of a grip can be determined. Motors are used to create tension in the cables, which

results in an applied force at the grip.


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A haptic device must be able to resist the force applied by a user. Just as a lever allows

you to apply a large force with little effort, longer links in a robotic arm allow you to

exert larger forces on the motors that control the bending of the robotic arm. Larger

linkage- based systems therefore require larger motors that can exert more force. This

can become very expensive and in most cases impractical, which puts a limit on the

size of a linkage-based system. Because a tension-based device applies force directlyto the point of contact through the tension in the cables, there is no need to

compensate for the lever effect. This removes the limitation on workspace size and

the amount of force that could be applied. As a result, a tension-based device could be

the size of a mouse pad or the size of a room.

(a) (b) (c)

Figure 3. Various tension based force feedback devices developed at the Precision and Intelligence Laboratory at

the Tokyo Institute of Technology. (a) Six degree force feedback device with 54x54x54 cm workspace. (b) Twenty

four degree of freedom device with 100x50x50 cm workspace. (c) Five degree freedom device with a 2x2x2 m

workspace used within a CAVE system.

Unlike links, the cables used in a tension-based system have little mass. This

essentially eliminates inertial effects and increases the accuracy of the applied force.

Cables are also much safer than links in that they have little mass that can collide with

a user. Cables are also unobtrusive. They do not obstruct ones view, as would one or

more robotic arms. Stereoscopic 3-D projection can allow virtual objects to be placed

within the frame of a tension-based device so that visualization can be co-located with

the sense of touch.

Tension- based devices are only now beginning to appear in commercial markets. The

low cost of these systems make them especially appealing as compared to linkage-based devices. Surgery simulation is the arena where these devices are first making an

appearance, with laproscopy, trans-urethral resection of the prostate, and suturing

simulation serving as some of the initial applications.

Common interface devices like mouse and joystick are only input devices. No

feedback.

Haptic devices are input-output devices.


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Design

Haptics are enabled by actuators that apply forces to the skin for touch feedback. The

actuator provides mechanical motion in response to an electrical stimulus. Most early

designs of haptic feedback use electromagnetic technologies such as vibratory motors,

like a vibrating alert in a cell phone or a voice coil in a speaker, where a central mass is

moved by an applied magnetic field. These electromagnetic motors typically operate at

resonance and provide strong feedback, but produce a limited range of sensations. Next

generation actuator technologies are beginning to emerge,offering a wider range of

effects due to more rapid response times. Next generation haptic actuator technologies

include electroactive polymers, piezoelectric, and electrostatic surface actuation.

Actuators and Sensors

Haptic System

There are several approaches to creating haptic systems. Although they may look

drastically different, they all have two important things in common -- software to

determine the forces that result when a user's virtual identity interacts with an object

and a device through which those forces can be applied to the user. The actual process

used by the software to perform its calculations is called haptic rendering. A common

rendering method uses polyhedral models to represent objects in the virtual world.

These 3-D models can accurately portray a variety of shapes and can calculate touch

data by evaluating how force lines interact with the various faces of the object. Such 3-D

objects can be made to feel solid and can have surface texture.

The job of conveying haptic images to the user falls to the interface device. In many

respects, the interface device is analogous to a mouse, except a mouse is a passive

device that cannot communicate any synthesized haptic data to the user. Let's look at a

few specific haptic systems to understand how these devices work.


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Applications Of Haptic Technology

It's not difficult to think of ways to apply haptics. Video game makers have been early

adopters of passive haptics, which takes advantage of vibrating joysticks, controllers and

steering wheels to reinforce on-screen activity. But future video games will enable

players to feel and manipulate virtual solids, fluids, tools and avatars. The Novint Falcon

haptics controller is already making this promise a reality. The 3-D force feedback

controller allows you to tell the difference between a pistol report and a shotgun blast,

or to feel the resistance of a longbow's string as you pull back an arrow.

Graphical user interfaces, like those that define Windows and Mac operating

environments, will also benefit greatly from haptic interactions. Imagine being able to

feel graphic buttons and receive force feedback as you depress a button. Some

touchscreen manufacturers are already experimenting with this technology. Nokia

phone designers have perfected a tactile touchscreen that makes on-screen buttons

behave as if they were real buttons. When a user presses the button, he or she feelsmovement in and movement out. He also hears an audible click. Nokia engineers

accomplished this by placing two small piezoelectric sensor pads under the screen and

designing the screen so it could move slightly when pressed. Everything -- movement

and sound -- is synchronized perfectly to simulate real button manipulation.

Although several companies are joining Novint and Nokia in the push to incorporate

haptic interfaces into mainstream products, cost is still an obstacle. The most

sophisticated touch technology is found in industrial, military and medical applications.

Training with haptics is becoming more and more common. For example, medical

students can now perfect delicate surgical techniques on the computer, feeling what it's

like to suture blood vessels in an anastomosis or inject BOTOX into the muscle tissue of

a virtual face. Aircraft mechanics can work with complex parts and service procedures,

touching everything that they see on the computer screen. And soldiers can prepare for

battle in a variety of ways, from learning how to defuse a bomb to operating a

helicopter, tank or fighter jet in virtual combat scenarios.

Haptic technology is also widely used in teleoperation, or telerobotics. In a telerobotic

system, a human operator controls the movements of a robot that is located some

distance away. Some teleoperated robots are limited to very simple tasks, such as

aiming a camera and sending back visual images. In a more sophisticated form of

teleoperation known as telepresence, the human operator has a sense of being locatedin the robot's environment. Haptics now makes it possible to include touch cues in

addition to audio and visual cues in telepresence models. It won't be long before

astronomers and planet scientists actually hold and manipulate a Martian rock through

an advanced haptics-enabled telerobot -- a high-touch version of the Mars Exploration

Rover.


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Teleoperators and simulators

Teleoperators are remote controlled robotic toolswhen contact forces are reproduced

to the operator, it is called haptic teleoperation. The first electrically actuated

teleoperators were built in the 1950s at the Argonne National Laboratory by Raymond

Goertz to remotely handle radioactive substances. Since then, the use of force feedbackhas become more widespread in other kinds of teleoperators such as remote controlled

underwater exploration devices.

When such devices are simulated using a computer (as they are in operator training

devices) it is useful to provide the force feedback that would be felt in actual operations.

Since the objects being manipulated do not exist in a physical sense, the forces are

generated using haptic (force generating) operator controls. Data representing touch

sensations may be saved or played back using such haptic technologies. Haptic simulators

are used in medical simulators and flight simulators for pilot training.

Computer and video games

Haptic feedback is commonly used in arcade games, especially racing video games. In

1976, Sega's motorbike gameMoto-Cross, also known asFonz,[4]

was the first game to use

haptic feedback which caused the handlebars to vibrate during a collision with another

vehicle.[5]

Tatsumi'sTX-1introduced force feedback to car driving games in 1983.

Simple haptic devices are common in the form ofgame controllers, joysticks, and steering

wheels. Early implementations were provided through optional components, such as the

Nintendo 64 controller'sRumble Pak. Many newer generation console controllers and

joysticks feature built in feedback devices, including Sony's DualShock technology. Someautomobile steering wheel controllers, for example, are programmed to provide a "feel"

of the road. As the user makes a turn or accelerates, the steering wheel responds by

resisting turns or slipping out of control.

In 2007, Novint released the Falcon, the first consumer 3D touch device with high

resolution three-dimensional force feedback; this allowed the haptic simulation of

objects, textures, recoil, momentum, and the physical presence of objects in games.

Personal computers

In 2008, Apple's MacBook and MacBook Pro started incorporating a "Tactile Touchpad"

design[9][10]

with button functionality and haptic feedback incorporated into the tracking

surface.[11]

Products such as the Synaptics ClickPad[12]

followed thereafter.

Mobile devices

Tactile haptic feedback is becoming common in cellular devices. Handset manufacturers

like LG and Motorola are including different types of haptic technologies in their devices;

in most cases, this takes the form of vibration response to touch. Alpine Electronics uses a

haptic feedback technology named PulseTouch on many of their touch-screen car
http://en.wikipedia.org/wiki/Teleoperationhttp://en.wikipedia.org/wiki/Argonne_National_Laboratoryhttp://en.wikipedia.org/wiki/Raymond_Goertzhttp://en.wikipedia.org/wiki/Raymond_Goertzhttp://en.wikipedia.org/wiki/Simulationhttp://en.wikipedia.org/wiki/Flight_simulatorhttp://en.wikipedia.org/wiki/Arcade_gamehttp://en.wikipedia.org/wiki/Racing_video_gamehttp://en.wikipedia.org/wiki/Segahttp://en.wikipedia.org/wiki/Fonz_%28arcade%29http://en.wikipedia.org/wiki/Fonz_%28arcade%29http://en.wikipedia.org/wiki/Fonz_%28arcade%29http://en.wikipedia.org/wiki/Fonz_%28arcade%29http://en.wikipedia.org/wiki/Fonz_%28arcade%29http://en.wikipedia.org/wiki/Haptic_technology#cite_note-Fonz-3http://en.wikipedia.org/wiki/Haptic_technology#cite_note-Fonz-3http://en.wikipedia.org/wiki/Haptic_technology#cite_note-Fonz-3http://en.wikipedia.org/wiki/Haptic_technology#cite_note-4http://en.wikipedia.org/wiki/Haptic_technology#cite_note-4http://en.wikipedia.org/wiki/Tatsumi_%28company%29http://en.wikipedia.org/wiki/TX-1http://en.wikipedia.org/wiki/TX-1http://en.wikipedia.org/wiki/TX-1http://en.wikipedia.org/wiki/Game_controllerhttp://en.wikipedia.org/wiki/Nintendo_64http://en.wikipedia.org/wiki/Rumble_Pakhttp://en.wikipedia.org/wiki/Rumble_Pakhttp://en.wikipedia.org/wiki/Rumble_Pakhttp://en.wikipedia.org/wiki/Sonyhttp://en.wikipedia.org/wiki/DualShockhttp://en.wikipedia.org/wiki/Novinthttp://en.wikipedia.org/wiki/Novint#Novint_Falconhttp://en.wikipedia.org/wiki/MacBookhttp://en.wikipedia.org/wiki/MacBook_Prohttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-8http://en.wikipedia.org/wiki/Haptic_technology#cite_note-8http://en.wikipedia.org/wiki/Haptic_technology#cite_note-10http://en.wikipedia.org/wiki/Haptic_technology#cite_note-10http://en.wikipedia.org/wiki/Haptic_technology#cite_note-10http://en.wikipedia.org/wiki/Synapticshttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-11http://en.wikipedia.org/wiki/Haptic_technology#cite_note-11http://en.wikipedia.org/wiki/Mobile_phonehttp://en.wikipedia.org/wiki/LG_Corphttp://en.wikipedia.org/wiki/Motorolahttp://en.wikipedia.org/wiki/Alpine_Electronicshttp://en.wikipedia.org/wiki/Alpine_Electronicshttp://en.wikipedia.org/wiki/Motorolahttp://en.wikipedia.org/wiki/LG_Corphttp://en.wikipedia.org/wiki/Mobile_phonehttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-11http://en.wikipedia.org/wiki/Synapticshttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-10http://en.wikipedia.org/wiki/Haptic_technology#cite_note-8http://en.wikipedia.org/wiki/Haptic_technology#cite_note-8http://en.wikipedia.org/wiki/MacBook_Prohttp://en.wikipedia.org/wiki/MacBookhttp://en.wikipedia.org/wiki/Novint#Novint_Falconhttp://en.wikipedia.org/wiki/Novinthttp://en.wikipedia.org/wiki/DualShockhttp://en.wikipedia.org/wiki/Sonyhttp://en.wikipedia.org/wiki/Rumble_Pakhttp://en.wikipedia.org/wiki/Nintendo_64http://en.wikipedia.org/wiki/Game_controllerhttp://en.wikipedia.org/wiki/TX-1http://en.wikipedia.org/wiki/Tatsumi_%28company%29http://en.wikipedia.org/wiki/Haptic_technology#cite_note-4http://en.wikipedia.org/wiki/Haptic_technology#cite_note-Fonz-3http://en.wikipedia.org/wiki/Fonz_%28arcade%29http://en.wikipedia.org/wiki/Fonz_%28arcade%29http://en.wikipedia.org/wiki/Segahttp://en.wikipedia.org/wiki/Racing_video_gamehttp://en.wikipedia.org/wiki/Arcade_gamehttp://en.wikipedia.org/wiki/Flight_simulatorhttp://en.wikipedia.org/wiki/Simulationhttp://en.wikipedia.org/wiki/Raymond_Goertzhttp://en.wikipedia.org/wiki/Raymond_Goertzhttp://en.wikipedia.org/wiki/Argonne_National_Laboratoryhttp://en.wikipedia.org/wiki/Teleoperation


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navigation and stereo units.[13]

The Nexus One features haptic feedback, according to their

specifications.[14]

Virtual reality

Haptics are gaining widespread acceptance as a key part ofvirtual reality systems, addingthe sense of touch to previously visual-only solutions. Most of these solutions use stylus-

based haptic rendering, where the user interfaces to the virtual world via a tool or stylus,

giving a form of interaction that is computationally realistic on today's hardware. Systems

are being developed to use haptic interfaces for 3D modeling and design that are

intended to give artists a virtual experience of real interactive modeling. Researchers from

the University of Tokyo have developed 3D holograms that can be "touched" through

haptic feedback using "acoustic radiation" to create a pressure sensation on a user's

hands (see future section). The researchers, led by Hiroyuki Shinoda, had the technology

on display at SIGGRAPH 2009 in New Orleans.

Research

Research has been done to simulate different kinds oftaction by means of high-speed

vibrations or other stimuli. One device of this type uses a pad array of pins, where the pins

vibrate to simulate a surface being touched. While this does not have a realistic feel, it

does provide useful feedback, allowing discrimination between various shapes, textures,

and resiliencies. Several haptics APIs have been developed for research applications, such

as Chai3D, OpenHaptics, and the Open Source H3DAPI.

Medicine

Haptic interfaces for medical simulation may prove especially useful for training in

minimally invasive procedures such as laparoscopy and interventional radiology, as well as

for performing remote surgery. A particular advantage of this type of work is that

surgeons can perform more operations of a similar type with less fatigue. It is well

documented that a surgeon who performs more procedures of a given kind will have

statistically better outcomes for his patients. Haptic interfaces are also used in

rehabilitation robotics.

In ophthalmology,haptic refers to supporting springs, two of which hold an artificial lens

within the lens capsule after the surgical removal ofcataracts.

A Virtual Haptic Back (VHB) was successfully integrated in the curriculum at the Ohio

University College ofOsteopathic Medicine. Research indicates that VHB is a significant

teaching aid in palpatory diagnosis (detection of medical problems via touch). The VHB

simulates the contour and stiffness ofhuman backs, which are palpated with two haptic

interfaces (SensAble Technologies, PHANToM 3.0). Haptics have also been applied in the

field ofprosthetics and orthotics. Research has been underway to provide essential

feedback from a prosthetic limb to its wearer. Several research projects through the US

Department of Education and National Institutes of Health focused on this area. Recent
http://en.wikipedia.org/wiki/Haptic_technology#cite_note-12http://en.wikipedia.org/wiki/Haptic_technology#cite_note-12http://en.wikipedia.org/wiki/Haptic_technology#cite_note-12http://en.wikipedia.org/wiki/Nexus_Onehttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-13http://en.wikipedia.org/wiki/Haptic_technology#cite_note-13http://en.wikipedia.org/wiki/Haptic_technology#cite_note-13http://en.wikipedia.org/wiki/Virtual_realityhttp://en.wikipedia.org/wiki/University_of_Tokyohttp://en.wikipedia.org/wiki/SIGGRAPH#Specific_SIGGRAPH_Conferenceshttp://en.wikipedia.org/wiki/New_Orleanshttp://en.wikipedia.org/w/index.php?title=Taction&action=edit&redlink=1http://en.wikipedia.org/wiki/APIhttp://en.wikipedia.org/wiki/Laparoscopyhttp://en.wikipedia.org/wiki/Interventional_radiologyhttp://en.wikipedia.org/wiki/Remote_surgeryhttp://en.wikipedia.org/wiki/Physical_therapyhttp://en.wikipedia.org/wiki/Roboticshttp://en.wikipedia.org/wiki/Ophthalmologyhttp://en.wikipedia.org/wiki/Lens_%28anatomy%29http://en.wikipedia.org/wiki/Cataracthttp://en.wikipedia.org/wiki/Ohio_Universityhttp://en.wikipedia.org/wiki/Ohio_Universityhttp://en.wikipedia.org/wiki/Osteopathic_Medicinehttp://en.wikipedia.org/wiki/Stiffnesshttp://en.wikipedia.org/wiki/Human_backhttp://en.wikipedia.org/wiki/Prostheticshttp://en.wikipedia.org/wiki/Orthoticshttp://en.wikipedia.org/wiki/US_Department_of_Educationhttp://en.wikipedia.org/wiki/US_Department_of_Educationhttp://en.wikipedia.org/wiki/National_Institutes_of_Healthhttp://en.wikipedia.org/wiki/National_Institutes_of_Healthhttp://en.wikipedia.org/wiki/US_Department_of_Educationhttp://en.wikipedia.org/wiki/US_Department_of_Educationhttp://en.wikipedia.org/wiki/Orthoticshttp://en.wikipedia.org/wiki/Prostheticshttp://en.wikipedia.org/wiki/Human_backhttp://en.wikipedia.org/wiki/Stiffnesshttp://en.wikipedia.org/wiki/Osteopathic_Medicinehttp://en.wikipedia.org/wiki/Ohio_Universityhttp://en.wikipedia.org/wiki/Ohio_Universityhttp://en.wikipedia.org/wiki/Cataracthttp://en.wikipedia.org/wiki/Lens_%28anatomy%29http://en.wikipedia.org/wiki/Ophthalmologyhttp://en.wikipedia.org/wiki/Roboticshttp://en.wikipedia.org/wiki/Physical_therapyhttp://en.wikipedia.org/wiki/Remote_surgeryhttp://en.wikipedia.org/wiki/Interventional_radiologyhttp://en.wikipedia.org/wiki/Laparoscopyhttp://en.wikipedia.org/wiki/APIhttp://en.wikipedia.org/w/index.php?title=Taction&action=edit&redlink=1http://en.wikipedia.org/wiki/New_Orleanshttp://en.wikipedia.org/wiki/SIGGRAPH#Specific_SIGGRAPH_Conferenceshttp://en.wikipedia.org/wiki/University_of_Tokyohttp://en.wikipedia.org/wiki/Virtual_realityhttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-13http://en.wikipedia.org/wiki/Nexus_Onehttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-12


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work by Edward Colgate, Pravin Chaubey, and Allison Okamura et al. focused on

investigating fundamental issues and determining effectiveness for rehabilitation.

Robotics

The Shadow Hand uses the sense of touch, pressure, and position to reproduce thestrength, delicacy, and complexity of the human grip. The SDRH was developed by Richard

Greenhill and his team of engineers in London as part of The Shadow Project, now known

as the Shadow Robot Company, an ongoing research and development program whose

goal is to complete the first convincing artificial humanoid. An early prototype can be seen

in NASA's collection of humanoid robots, or robonauts.[19]

The Shadow Hand has haptic

sensors embedded in every joint and finger pad, which relay information to a central

computer for processing and analysis. Carnegie Mellon University in Pennsylvania and

Bielefeld University in Germany found The Shadow Hand to be an invaluable tool in

advancing the understanding of haptic awareness, and in 2006 they were involved in

related research.The first PHANTOM, which allows one to interact with objects in virtualreality through touch, was developed by Thomas Massie while a student of Ken Salisbury

at MIT.

Arts and design

Touching is not limited to feeling, but allows interactivity in real-time with virtual objects.

Thus, haptics are used in virtual arts, such as sound synthesis or graphic design and

animation. The haptic device allows the artist to have direct contact with a virtual

instrument that produces real-time sound or images. For instance, the simulation of a

violin string produces real-time vibrations of this string under the pressure and

expressiveness of the bow (haptic device) held by the artist. This can be done withphysical modelling synthesis.Designers and modellers may use high-degree-of-freedom

input devices that give touch feedback relating to the "surface" they are sculpting or

creating, allowing faster and more natural workflow than traditional methods.Artists

working with haptic technology such as vibrotactile effectors are Christa Sommerer,

Laurent Mignonneau, and Stahl Stenslie.
http://en.wikipedia.org/wiki/Shadow_Handhttp://en.wikipedia.org/w/index.php?title=Shadow_Robot_Company&action=edit&redlink=1http://en.wikipedia.org/wiki/Humanoidhttp://en.wikipedia.org/wiki/NASAhttp://en.wikipedia.org/wiki/Robonauthttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-18http://en.wikipedia.org/wiki/Haptic_technology#cite_note-18http://en.wikipedia.org/wiki/Haptic_technology#cite_note-18http://en.wikipedia.org/wiki/Carnegie_Mellon_Universityhttp://en.wikipedia.org/wiki/Bielefeld_Universityhttp://en.wikipedia.org/wiki/MIThttp://en.wikipedia.org/wiki/Interactivityhttp://en.wikipedia.org/wiki/Sound_synthesishttp://en.wikipedia.org/wiki/Graphic_designhttp://en.wikipedia.org/wiki/Animationhttp://en.wikipedia.org/wiki/Physical_modelling_synthesishttp://en.wikipedia.org/wiki/Input_devicehttp://en.wikipedia.org/wiki/Stahl_Stensliehttp://en.wikipedia.org/wiki/Stahl_Stensliehttp://en.wikipedia.org/wiki/Input_devicehttp://en.wikipedia.org/wiki/Physical_modelling_synthesishttp://en.wikipedia.org/wiki/Animationhttp://en.wikipedia.org/wiki/Graphic_designhttp://en.wikipedia.org/wiki/Sound_synthesishttp://en.wikipedia.org/wiki/Interactivityhttp://en.wikipedia.org/wiki/MIThttp://en.wikipedia.org/wiki/Bielefeld_Universityhttp://en.wikipedia.org/wiki/Carnegie_Mellon_Universityhttp://en.wikipedia.org/wiki/Haptic_technology#cite_note-18http://en.wikipedia.org/wiki/Robonauthttp://en.wikipedia.org/wiki/NASAhttp://en.wikipedia.org/wiki/Humanoidhttp://en.wikipedia.org/w/index.php?title=Shadow_Robot_Company&action=edit&redlink=1http://en.wikipedia.org/wiki/Shadow_Hand


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Importance Of Haptics

In video games, the addition of haptic capabilities is nice to have. It increases the reality of

the game and, as a result, the user's satisfaction. But in training and other applications,haptic interfaces are vital. That's because the sense of touch conveys rich and detailed

information about an object. When it's combined with other senses, especially sight,

touch dramatically increases the amount of information that is sent to the brain for

processing. The increase in information reduces user error, as well as the time it takes to

complete a task. It also reduces the energy consumption and the magnitudes of contact

forces used in a teleoperation situation.

Clearly, Samsung is hoping to capitalize on some of these benefits with the introduction of

the Anycall Haptic phone. Nokia will push the envelope even farther when it introduces

phones with tactile touchscreens. Yes, such phones will be cool to look at. And, yes, theywill be cool to touch. But they will also be easier to use, with the touch-based features

leading to fewer input errors and an overall more satisfying experience.

Advantages

Ivan Sutherland, a founding father of virtual reality, suggested that the human

kinesthetic sense is as yet another independent channel to the brain, a channel whose

information is assimilated quite subconsciously This and other statements led

researchers to develop haptic interfaces. By adding an independent input channel, the

amount of information that is processed by the brain is increased. The increase in

information reduces the error and time taken to complete a task. It also reduces the

energy consumption and the magnitudes of contact forces used in a tele-operation

situation.Humans use their hands in exploring environments that have poor or no

visibility.

For instance, divers in murky water use their haptic senses in substitution for their visual

senses with little loss in performance. Humans are very good at identifying three-

dimensional objects placed in their hands, but are not as able to identify two-dimensional


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objects. Although not as adept at searching across a two-dimensional space, humans have

particular ways of exploring such spaces. In two-dimensional exploration, such as

exploring raised surfaces on a plane, humans use a set of exploratory procedures as

observed by Lederman, Klatzky and Balakrishnan. Their research describes how humans

gather information about a two-dimensional surface. This usually happens by firstidentifying an edge and then following a contour.

Haptic displays alone are nearly useless, but when they are used in conjunction with a

visual display, they can become more useful than a stereoscopic display or a display with

multiple viewpoints. Batter and Brooks did an experiment to prove that the haptic

interfaces actually affected how well a user could learn from the system. They tested

several sections of a physics class that were learning electrostatic fields. The experimental

part of the class was allowed to use a force feedback device in a laboratory exercise, and

the control group was not. The experimental group did better than the control groups

because of their access to a haptic display in their lab work.

Disadvantages

Despite the progress made in the past two with human users.Although there is hardware

such as PHANTOM out in the commercial market, it is still very expensive for the home

users or business users to purchase the PHANTOM device.At the same time the software

compatibility is also another issue why haptic is still not very common yet.decades, haptic

interfaces have not yet become commonplace.One main reason is the technological

challenge associated with the design and production of interfaces that make physicalcontact .

Future

Haptic interfaces will continue to be centered on the hands because people gather

information from their surroundings in a haptic manner with their hands more than any

other body part. The search for an inexpensive, portable and useful haptic display will be

long and difficult, but it will continue for many years to come. Many researchers look for a

'natural' interface, but since there is a physical barrier between the human sensory-motor

capabilities and the electronic world of the computer, there will not be a natural system

until they can use direct neural stimulation of the brain. Instead, some suggest the search

should be for an intuitive system. Robert Stone emphasized this point by stating:

An intuitive interface between man and machine is one which requires little training and

proffers a working style most like that used by the human being to interact with

environments and objects in his day-to-day life. In other words, the human interacts with


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elements of his task by looking, holding, manipulating, speaking, listening, and moving,

using as many of his natural skills as are appropriate, or can reasonably be expected to be

applied to a task. (Stone, 1995)

When creating a haptic interface, it is important to keep in mind what the device is going

to be used for. If it is not going to be used in a way that is intuitive to an operator, it may

cause problems even though the user is trained in its use. In times of stress, excitement,

or fatigue, people forget much of their training and do what comes intuitively. So if a

haptic interface is not being used in an intuitive manner, the operator may misuse the

interface by doing something that is natural to them.The study of haptics holds a key to

unlocking interface problems with the computer. Haptics enable a fairly intuitive way for

the human user to get information into the computer, and for the computer to display

information from a virtual world. Research in this area can help enable those who have

been unable to use a computer to its fullest extent overcome a physical limitation, and it

can enable users to explore objects and places that have been inaccessible under normal

circumstances.

Touch the virtual

Future applications

Future applications of haptic technology cover a wide spectrum of human interaction with

technology. Current[research focuses on the mastery of tactile interaction with holograms

and distant objects, which if successful may result in applications and advancements in

gaming, movies, manufacturing, medical, and other industries.The medical industry standsto gain from virtual and telepresence surgeries, which provide new options for medical

care. The clothing retail industry could gain from haptic technology by allowing users to

"feel" the texture of clothes for sale on the internet. Future advancements in haptic

technology may create new industries that were previously not feasible or realistic.

Holographic interaction

Researchers at the University of Tokyo are working on adding haptic feedback to

holographic projections. The feedback allows the user to interact with a hologram and
http://en.wikipedia.org/wiki/Holographyhttp://en.wikipedia.org/wiki/Holography


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receive tactile responses as if the holographic object were real. The research uses

ultrasound waves to create acoustic radiation pressure, which provides tactile feedback as

users interact with the holographic object. The haptic technology does not affect the

hologram, or the interaction with it, only the tactile response that the user perceives. The

researchers posted a video displaying what they call the Airborne Ultrasound Tactile

Display.As of 2008 the technology was not ready for mass production or mainstreamapplication in industry, but was quickly progressing, and industrial companies showed a

positive response to the technology. This example of possible future application is the first

in which the user does not have to be outfitted with a special glove or use a special

controlthey can "just walk up and use [it]".

Future medical applications

One currently developing medical innovation is a central workstation used by surgeons to

perform operations remotely. Local nursing staff set up the machine and prepare the

patient, and rather than travel to an operating room, the surgeon becomes atelepresence. This allows expert surgeons to operate from across the country, increasing

availability of expert medical care. Haptic technology provides tactile and resistance

feedback to surgeons as they operate the robotic device. As the surgeon makes an

incision, they feel ligaments as if working directly on the patient.

As of 2003, researchers at Stanford University were developing technology to simulate

surgery for training purposes. Simulated operations allow surgeons and surgical students

to practice and train more. Haptic technology aids in the simulation by creating a realistic

environment of touch. Much like telepresence surgery, surgeons feel simulated ligaments,

or the pressure of a virtual incision as if it were real. The researchers, led by J. Kenneth

Salisbury Jr., professor of computer science and surgery, hope to be able to create realisticinternal organs for the simulated surgeries, but Salisbury stated that the task will be

difficult.

Conclusion

With the increase of the computation power of office and home PC one-day haptic mouse

and interface device will be a common item in the house.The haptic development helps

the sense impaired people to experience a new way of operating computers in a way they

never do.From the examples mentioned in the commercial applications we can see that

the use of haptic is actually infinite.Haptic could be used in medical, training, e-commerce,

or even games.These are just some rough uses for haptic, the possibility is so much more

and right now haptic is helping NASA to explore planets in the Solar system by controlling

the robots.Though the technology is still quite unfamiliar to the general public but once

haptic is introduced I believe it will grow like the Internet back in the late 1980s early

1990s.Haptic is the future for online computing and e-commerce it will enhance the

shopper experience and help online shopper to feel the merchandise without leave their

home.Thus I believe Internet is the way of the future and haptic will make Internet be the

future.
http://en.wikipedia.org/wiki/Ultrasoundhttp://en.wikipedia.org/wiki/Acoustic_radiation_pressurehttp://en.wikipedia.org/wiki/Telepresencehttp://en.wikipedia.org/wiki/Stanford_Universityhttp://en.wikipedia.org/wiki/Stanford_Universityhttp://en.wikipedia.org/wiki/Telepresencehttp://en.wikipedia.org/wiki/Acoustic_radiation_pressurehttp://en.wikipedia.org/wiki/Ultrasound


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References

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http://en.wikipedia.org/wiki/Haptic_technology http://misnt.indstate.edu/harper/Students/Haptics/mis476final.htm http://powerpointpresentationon.blogspot.in/2010/07/powerpoint-

presentation-on-haptics.html

http://www.google.co.in/ Klein. D, D. Rensink, H. Freimuth, G. J. Monkman, S. Egersdrfer, H. Bse &

M. Baumann. Modelling the Response of a Tactile Array using an

Electrorheological Fluids.Journal of Physics D: Applied Physics, vol 37, no. 5,pp794803, 2004.

Klein. D, H. Freimuth, G. J. Monkman, S. Egersdrfer, A. Meier, H. Bse M.Baumann, H. Ermert & O. T. Bruhns. Electrorheological Tactile Elements.

Mechatronics Vol 15, No 7, pp883897. Pergamon, September 2005.

Monkman. G. J. An Electrorheological Tactile Display. Presence (Journal ofTeleoperators and Virtual Environments) Vol. 1, issue 2, pp. 219228, MIT

Press, July 1992. f human - computer interaction providing a

virtual environment th one can explore through direct interaction

with our senses.

Its only an imitation of the real world.
http://electronics.howstuffworks.com/everyday-tech/haptic-technology.htmhttp://electronics.howstuffworks.com/everyday-tech/haptic-technology.htmhttp://electronics.howstuffworks.com/everyday-tech/haptic-technology.htmhttp://electronics.howstuffworks.com/everyday-tech/haptic-technology.htmhttp://misnt.indstate.edu/harper/Students/Haptics/mis476final.htmhttp://powerpointpresentationon.blogspot.in/2010/07/powerpoint-presentation-on-haptics.htmlhttp://powerpointpresentationon.blogspot.in/2010/07/powerpoint-presentation-on-haptics.htmlhttp://powerpointpresentationon.blogspot.in/2010/07/powerpoint-presentation-on-haptics.htmlhttp://powerpointpresentationon.blogspot.in/2010/07/powerpoint-presentation-on-haptics.htmlhttp://powerpointpresentationon.blogspot.in/2010/07/powerpoint-presentation-on-haptics.htmlhttp://powerpointpresentationon.blogspot.in/2010/07/powerpoint-presentation-on-haptics.htmlhttp://misnt.indstate.edu/harper/Students/Haptics/mis476final.htmhttp://electronics.howstuffworks.com/everyday-tech/haptic-technology.htmhttp://electronics.howstuffworks.com/everyday-tech/haptic-technology.htm


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self study haptics

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