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Prof. Jee-Hwan Ryu
School of Mechanical EngineeringKorea University of Technology and Education
Introduction to Haptic Interfaces Introduction to Haptic Interfaces and Its Applicationsand Its Applications
ME1035 ADVANCED ROBOTICS
ME, KUT
What is Haptic ?What is Haptic ?
hap·tic ('hap-tik)adj.Of or relating to the sense of touch; tactile.[Greek haptikos, from haptesthai, to grasp, touch. (1890)]
Anything relating to the sense of touchHuman hapticHaptic feedback/haptic interfacesMachine haptics
Haptic vs. Optic
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HapticHaptic Exploratory ProceduresExploratory Procedures
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Types of SensingTypes of Sensing
Kinesthesia inspires Force
Cutaneous inspiresTactile
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For The For The HapticsHaptics
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What is Haptic Interfaces ?What is Haptic Interfaces ?
“Mechatronic (computer and mechanical) systems to allow humans to feel and physically manipulate virtual or remote environments” -Blake Hannaford-
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From Nuclear From Nuclear TeleoperatorTeleoperator
Ray GoertzGoertz 19401940’’ss
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Molecular DockingMolecular Docking
Fred Brooks 1970’sUser feels interaction force between molecules
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Computer Controlled Computer Controlled TelerobotTelerobot
JPL ~ 1987
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The Entrepreneurial Era 1990The Entrepreneurial Era 1990’’ss
SensAble Technologies
Immersion
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Current Needs and ActivitiesCurrent Needs and Activities
TeleoperationExplorationTele-surgeryMicro/Nano Manipulation
Interaction with ComputerTrainingEducationEntertainment3D Interaction
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Exploration of Hazardous EnvironmentsExploration of Hazardous Environments
Underwater Robot
Space Robot
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TeleTele--surgerysurgery
da Vinci (Intuitive Surgical)
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Micro/Micro/NanoNano ManipulationManipulation
One of the biggest challenge of nanotechnology is the manipulation of the Nano-sized materials It is impossible to observe the manipulation through an optical microscope Haptic can improve dramatically the efficiency of nanomanipulations
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TrainingTraining
Medical simulators
Needle Insertion Endoscope
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EducationEducationHaptic involves active and intentional actionCombination of kinesthetics and sensory perception creates particularly strong neural pathways in the brain, Druyan (1997) Students are able to feel nano-sized materials such as viruses that are imaged under an atomic force microscope
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EntertainmentsEntertainments
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Virtual RealityVirtual Reality
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Technical Issues of Haptic InterfacesTechnical Issues of Haptic Interfaces
Advanced mechanism designs Low mass, high stiffness, high dexterity, kinematics, actuators with high T/M ratio and high resolution sensors
Control engineeringStabilityQuality of force feedback
ComputationRenderingCollision detection
Human factor (Performance measure)PsychophysicsErgonomics
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MechanismMechanism
Friction and inertia force from the mechanism distort force
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StabilityStability
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PerformancePerformance
Effective way to imitate physical behaviorMultimodal (Haptic + Sound + Visual)
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Rendering IssuesRendering Issues
Collision detectionComputation burden
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Human FactorsHuman Factors
It wasRealistic!
It wasRealistic!
No wayNo way
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History of History of HapticHaptic Interfaces, and Interfaces, and What will be the Next ?What will be the Next ?
1st Generation1st Generation 2nd Generation2
nd Generation 3rd Generation3rd Generation
H-M InteractionHuman-M/C Interaction
?
Human-Information Interaction
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Ubiquitous World (UW) in Near Future Ubiquitous World (UW) in Near Future
Numerous useful digital information will be available
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How can we Handle Those Information ?How can we Handle Those Information ?
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BMW BMW iDriveiDrive
Shift some of the load information feedback to the driver from visual sense to the tactile sense
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HapticHaptic Information for the DisabledInformation for the Disabled
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HH--M/C vs. HM/C vs. H--I I HapticHaptic InteractionInteraction
Emotion ?P/F matching,
Psychophysical research
Performance Measure
?Based on PhysicsRendering Method
Wearable ?Desktop, RobotType of Device
H-I InteractionH-M/C Interaction
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