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Virtualrealityisaformofhuman-computerinteractionprovidingavirtualenvironmentthatonecanexplorethroughdirectinteractionwithoursenses.Itsamereimitationoftherealworld.BUTISITCOMPLETE???

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Ourprimaryinterfacewiththerealworldisourhapticsense(senseoftouch).

Howimportantisoursenseoftouch?

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Inordertocompletetheimitationoftherealworldoneshouldbeabletointeractwiththeenvironmentandgetafeedback.Usershouldbeabletotouchthevirtualobjectandfeelaresponsefromit.ThisfeedbackiscalledHapticFeedback.

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Haptics,isthetechnologyofaddingthesensationoftouchandfeelingtocomputers.Ahapticdevicegivespeopleasenseoftouchwithcomputer-generatedenvironments,sothatwhenvirtualobjectsaretouched,theyseemrealandtangible.UnderstandingandenablingacompellingexperienceofPresencenotlimitedto"beingthere",butextendedto"beingintouch"withremoteorvirtualsurroundings

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Hapticsisimplementedthroughdifferenttypeofinteractionswithahapticdevicecommunicatingwiththecomputer.Theseinteractionscanbecategorizedintothedifferenttypesoftouchsensationsausercanreceive:TactilefeedbackForcefeedback

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VirtualRealityModelinglanguage(VRML)

Tellstheinterfacehowmuchforcethehapticdeviceshouldreturnwhenitistouched.

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ItworksbymonitoringthepositionofausersfingertiporhandthroughopticalencodersattachedtothedeviceThegeometric,material,kinematic,anddynamicpropertiesoftheworldwewishtorepresentcanbemodeledandstored.

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ForceandmotionarethemostimportanthapticcuesManymeaningfulhapticinteractionsinvolvelittleornotorqueAsmallwrist-centeredworkspaceissufficient

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Asignificantcomponentofourabilityto"visualize,"rememberandestablishcognitivemodelsofthephysicalstructureofourenvironmentsystemsfromhapticinteractionswithobjectsintheenvironment.

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ThemostsignificantdesignfeatureofthePhantomisthepassive,3degree-of-freedom"thimble-gimbal.Introducingthreepassivefreedomswiththe"thimble-gimbal"greatlysimplifiesprogrammingaswellasmechanismdesign

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Manymeaningfulhapticinteractionsoccurwithinthevolumethatthefingertipspanswhenthefore-armisallowedonlylimitedmovementPHANTOMshouldbeconstructedsuchthatausercouldmovethewristfreelywithoutencounteringtheedgesoftheworkspace

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FreespacemustfeelfreeSolidvirtualobjectsmustfeelstiffVirtualconstraintsmustnotbeeasilysaturated

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PHANTOMMechanicsVirtualWorldsPerceptualObservations

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Itallowsuserstotouch,feelandmanipulate3-Dobjectsinvirtualenvironments.

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Commoninterfacedeviceslikemouseandjoystickareonlyinputdevices.Nofeedback.Hapticdevicesareinput-outputdevices.

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largeandimmobilesystemsthattheusermustattachhimorherselfto.theirlargesizeandimmobilenatureallowforthegenerationoflargeandvariedforceinformation.

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TheusercanmovenaturallywithoutbeingweigheddownbyalargeexoskeletonorimmobiledeviceE.g.HandMaster

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Inaconfinedspace,simulateunrestrainedhumanmobilitysuchaswalkingandrunningforvirtualreality.

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Tactilefeedbacktellsusthetextureofthesurfaces.Usingthiswecanfeeldifferentsurfacesandslippingsensationscanbeproduced.

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VirtualrealityVirtualsurgeryTele-presenceHumanassistivedevicesGames&manymoreSurgeryTele-presence

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ThedevelopmentofthePHANTOMdevicehasdemonstratedthefeasibilityofarelativelylowcostsystemwhichcanprovideconvincingsensationsofinteractionswithvirtualobjectWiththeevolutionofthisdevice,todaymultiplefingerinteractionsandmultipleuserinteractionsinsharedworkspaceswiththedevice

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www.globalhaptics.comwww.worldhaptics.comwww.nasa.govwww.immersion.comwww.sensable.comwww.sarcos.com

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