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

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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