Haptic Interfaces for Virtual Reality and Teleoperation.

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    02-Jan-2016

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  • Haptic Interfaces for Virtual Reality and Teleoperation

  • HapticsThe sensibility of the world adjacent to the body by use of the body(Gibson, 1966)

  • Terminology

    Proprioceptive

    Relating to sensory information about the state of the body (including cutaneous, kinesthetic and vestibular sensations).

    Vestibular

    Pertaining to the perception of head position, acceleration and deceleration.

    Kinesthetic

    The feeling of motion. Relating to sensations originating in muscles, tendons and joints.

    Cutaneous

    Pertaining to the skin itself as a sense organ. Includes sensations of pressure, temperature and pain.

    Force Feedback

    The mechanical production of information sensed by the human kinesthetic system.

  • Kinesthetic Feedback Golgi tendon organs (force) Muscle Spindles (position and velocity) Experimental data ambiguous Bandwidth estimates 20-30 Hz. (Brooks, 1990)

  • The Cutaneous Sense

    Receptor Type

    Field Diameter(mm)

    Frequency at which most easily excited(Hz)

    Amplitude Threshold ((m)

    Probable Sensed Correlate

    RAI

    3-4

    8-64

    30

    Tickle, Vibration, Tap

    SAI

    3-4

    2-32

    15

    Pressure

    RAII

    >20

    >64

    1

    Vibration, Tickle

    SAII

    >10

  • Haptic Interfaces Constrained Motion Devices Tactile Displays

  • Constrained Motion Devices Force Feedback DOF constrained to portray contract.Virtual free space Virtual constraint

  • Device Limitations Sampling Period Device Dynamics Power Limitations

  • Ideal Equivalent Performance

  • Low Inherent Impedance Nominally displays Virtual free space. Position feedback increases impedance. High gain servos constrain motion. Limitations: Stability & power

  • The PHANToM

  • High Inherent Impedance Nominally displays Virtual Constraint. Impedance reduced by force feedback. Framework conveys stiffness. Limitations: Dynamics & Stability

  • The HapticMASTER

  • Bandwidth & The Haptic Spectrum

  • Temporal & Spatial Relationshipst = s v t = Temporal frequency (Hz.) s = Spatial Frequency (Cycles/m.) v = Exploration velocity (m/s).

  • Vibrotactile Display

  • Multi Modal Interaction HCI Occurs Using: Haptic Visual Auditory Smell ?!? Overcome limitations using other modes.

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