Introduction to haptics
CS 223A
AI / ROBOTICS Lab Stanford University
François Conti
1
1
outline
• what is haptics ?
• current force feedback devices
• tactile rendering algorithms
• applications in the field of haptics • demonstrations
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1
definition | according to Webster
main entry: hap·tic
pronunciation: ‘hap-tik
function: adjective
etymology: international scientific vocabulary,
from Greek haptesthai to touch date: circa 1890
1 : relating to or based on the sense of touch
2 : characterized by a predilection for the sense of
touch
Merriam-Webster, Incorporated, http://www.m-w.com/cgi-bin/dictionary
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the sense of touch
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1
goals
Omega / Force Dimension PHANToM / Sensable Technologies
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1
outline
• what is haptics ?
• current force feedback devices • tactile rendering algorithms
• applications in the field of haptics • demonstrations
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1
haptic devices – 1 DOF
SAMSUNG / IMMERSION TECHNOLOGIES
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7
haptic devices – 2 DOF
IMMERSION TECHNOLOGIES
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1
haptic devices – 3/6 DOF
PHANTOM – Sensable Technologies OMEGA – Force Dimension
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haptic devices – medical training
XITACT
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haptic devices – bimanual interfaces
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JPL
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haptic devices – grasping capabilities
VIRTUAL TECHNOLOGIES
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2
haptic devices – ultimate workstations
IMMERSION
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haptic devices – golf trainer
GRADENER AND SASCH ORLIC, PGA GOLF PROFESSIONAAL
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1
outline
• what is haptics ?
• current force feedback devices
• tactile rendering algorithms
• applications in the field of haptics • demonstrations
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• no contacts
• no reaction forces
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haptic rendering
virtual object cursor (sphere) (3 dof)
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haptic rendering
• move cursor towards surface
virtual object cursor (sphere) (3 dof)
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haptic rendering
virtual object cursor (sphere) (3 dof)
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3
haptic rendering
• collision detected
virtual object cursor (sphere) (3 dof)
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haptic rendering
• reaction force computed • force magnitude ?
F
virtual object (sphere)
cursor (3 dof)
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haptic rendering
• spring model • F =ks d
F
d
virtual object (sphere)
cursor (3 dof)
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haptic rendering
virtual object (sphere)
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haptic rendering
virtual object cursor
?
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17
haptic rendering
F
virtual object
cursor
d
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4
haptic rendering
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haptic rendering
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haptic rendering
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haptic rendering
?
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haptic rendering
?
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haptic rendering
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haptic rendering
(object 1)
(object 2)
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haptic rendering
?
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(object 1)
(object 2)
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haptic rendering
(object 1)
(object 2)
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haptic rendering
?
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haptic rendering
“pop through effect with thin objects”
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Haptic Device and Avatar
avatar
(tool, cursor, virtual finger, god object, proxy)
“avatar: to follow the haptic device while respecting the laws of physics”
haptic device
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6
Connecting the Device to the Avatar
avatar
haptic device
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God Object Algorithm
avatar / haptic device
time: t
constraint
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avatar
time: t
God Object Algorithm
check for any collision between the segment and the VR environment
haptic device
time: t + dt
constraint
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avatar
time: t
God Object Algorithm
check for any collision between the segment and the VR environment
haptic device
time: t + dt
constraint
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God Object Algorithm
check for any collision between the segment and the VR environment
avatar
time: t
constraint
collision
haptic device
time: t + dt
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God Object Algorithm
check for any collision between the segment and the VR environment
avatar
time: t
constraint
collision
haptic device
time: t + dt
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God Object Algorithm
avatar
time: t
constraint
haptic device
time: t + dt
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God Object Algorithm
avatar / haptic device
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God Object Algorithm
avatar
collision #1
constraint #1
haptic device
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God Object Algorithm
constraint #1
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God Object Algorithm
constraint #1 constraint #2
collision #2
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God Object Algorithm
constraint #1 constraint #2
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avatar
God Object Algorithm
collision #3 haptic device
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Computing the Reaction Force
avatar
k
x
F = – kmaterial x
haptic device
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Finger – Proxy Algorithm
The Haptic Display of Complex Graphical Environments
D. Ruspini, K. Kolarov and O. Khatib
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demonstration
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Experimental haptics
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Experimental haptics
final project demo
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1
outline
• what is haptics ?
• current force feedback devices
• tactile rendering algorithms
• applications in the field of haptics • demonstrations
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Haptic Manipulation
STANFORD UNIVERSITY
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Medical Field
PHILIPS MEDICAL
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Medical Field
medical control interface
radiofrequency catheter ablation
strokeriskincreasedby ו
atrial fibrillation
stroke is 3rd leading cause of death in the US
heartbeatdisorders ו arrhythmia, tachycardia potentially dangerous
carefullydestroyabnormalareas ו ablation catheter delivers RF energy
minimalinvasiveprocedure ו requires high precision and reliability
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medical field
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1
outline
• what is haptics ?
• current force feedback devices
• tactile rendering algorithms
• applications in the field of haptics • demonstrations
60
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