PAPER PRESENTATION ON

HAPTIC TECHNOLOGYTECHNOLOGY OF TOUCH

Paper presented by:

V.Satish S.Pradeep (08F65A0506) (07F61A0585) III-B.tech. III-B.tech. CSE. CSE.

Siddharth Inst. Of Engg.&Tech. Siddharth Inst. Of Engg.&Tech.

Email: venugopalsatish@gmail.com pradeep585singana@gmail.com Email:

Mobile No:-9491578643 No:-9885906658

Mobile

ABSTRACT
Can we touch, squeeze or feel the objects that we see on the computer screen? Can surgeons perform virtual operations? Forty years ago the answers to these questions may be certainly no. But now these seem possible with the advent of HAPTIC TECHNOLOGY. Haptics -- the newest technology to arrive in the world of computer interface devices -- promises to bring profound changes to the way humans interact with information and communicate ideas. Chosen by Forbes magazine in its February 2006 issue as one of the Ten Things That Will Change the Way We Live, haptic technology is already proving valuable in a broad range of industries for simulation and visualization and training. Recent advances in computer interface technology now permit us to touch and manipulate imaginary computer-generated objects in a way that evokes a compelling sense of tactile "realness." With this technology we can now sit down at a computer terminal and touch objects that exist only in the "mind" of the computer. These interactions might be as simple as touching a virtual wall or button, or as complex as performing a critical procedure in a surgical simulator. In this paper we give a brief description of haptic technology, its working, its present applications and probable future applications.

1.1) INTRODUCTION
We know that the five basic human faculties are sight, hearing, touch, smell, and taste.Of these only first two have been widely exploited in human-computer interaction. The video monitor and, to a lesser extent, the audio system are the primary conduits of information. They allow us to see and hear a rendering of the digital data inside a Computer. This audio-visual representation is extremely limited in contrast to a humans rich, multi-sensory perception of reality. Current computers are especially poor in conveying information on physical properties such as inertia, friction, compliance, temperature and roughness. These qualities are best communicated by a relatively unexplored means of human-computer dialogue, haptic interaction. With the advent of Haptics and Virtual Reality (VR), a new era in virtual computing is coming up. This will have a profound effect on the social environment as well. VR is based on the idea of generating virtual worlds that contain computer-generated, threedimensional (3D) objects. When Haptics is integrated with VR technology, it will generate miracles in the field of computing. At present, physical interaction is lacking in online interactions. Haptics will step in here and

enable the physical interaction between an online user and an object

1.2) WHAT ARE HAPTICS?

Haptics is the scientific field that studies the sense of touch. Haptics can be defined as the science of applying tactile sensation to human interaction with computers. The word came from the Greek word haptesthai, meaning to touch. A haptic device is one that involves physical contact between the computer and the user. This can be done through an input/output device that senses the bodys movements, such as a joystick or data glove. Figure1.2.1 shows a sample haptic device. Figure 1.2.1: A haptic device By using haptic devices, the user can not only feed information to the computer but can receive information from the computer in the form of a felt sensation on some part of the body. This is referred to as a haptic interface .Figure 1.2.2 shows a haptic interface robot Figure 1.2.2: A haptic interface ROBOT

sensory

It is the science of simulating perceptions like pressure,

texture, temperature, vibration and movements like poking, squeezing, sticking, heaving et al in IT enabled applications used for design, testing and diagnostics in various fields.

1.3) WHAT IS HAPTIC TECHNOLOGY?

. HAPTIC TECHNOLOGY can be defined as Force display technology works by using mechanical actuators to apply forces to the user. By simulating the physics of the users virtual world, we can compute these forces in real-time, and then send them to the actuators so that the user feels them.
Haptic technology refers to technology which interfaces the user via the sense of touch by applying forces, vibrations and/or motions to the user This mechanical stimulation is used to create haptic virtual objects. This emerging technology promises to have wide reaching applications.

1.4) HOW HAPTIC TECHNOLOGY WORKS?

In the real world, persons receive and disseminate information in three-dimensional space. In a virtual world, the user can access information by imitating that threedimensional space. To incorporate the sense of touch (the haptic sense), a device is created that allowed the user to interact with a computer by receiving tactile feedback. A haptic device achieves this feedback by applying a degree of opposing force to the user along the x, y, and z axes. While there is now some haptic software, much of the design is algorithmic.

Haptics, the science of perception, lets computer users interact in virtual worlds. When a computer system is enabled using haptics technology, it helps the scientists to simulating industrial operations, impact of objects like a golf club hitting the ball, the springiness of a kidney ulcer using the forceps, the texture of clothing for sale on the internet, the push of an individual carbon nano tube in an atomic force microscope etc.

The technology has made it possible to model free-floating 3-dimentional objects that can be explored from all sides. The computer communicates sensations through a haptic interface -- a stick, scalpel, racket or pen that is connected to force-exerting motors. Haptic interfaces can communicate with the contours of a sculpture, and they can apply pressure to help in sculpting. By coordinating the forces that are exerted on ones handle, probe, stylus or fingertips, you can make it feel as though one is touching something physical.

2.1) ARCHITECTURE OF HAPTIC FEEDBACK

Simulation engine: Simulation is an imitation of some real thing, state of affairs, or process. The act of simulating something generally entails representing certain key characteristics or behaviors of a selected physical or abstract system. Rendering: It is the Process by which desired sensory stimuli are imposed on the user to convey information about a virtual haptic object Human operator: It typically holds or wears the haptic interface device and perceives audiovisual feedback from audio and visual displays Visual, auditory, and haptic rendering algorithms: These algorithms help in computing the virtual environments graphic, sound, and force responses toward the user. Transducers: Convert visual, audio, and force signals from the computer into a form the operator can perceive. 2.2) System architecture for haptic rendering: An avatar is the virtual interface representation inside the virtual representation of the haptic interface environment & the virtual objects populating the through which the user physically interacts environment. Moreover, haptic rendering with the virtual environment. algorithms ensure that the haptic devices Haptic-rendering algorithms compute the correctly render such forces on the human correct interaction forces between the haptic operator.

Collision-detection algorithms detect collisions between objects and avatars in the virtual environment and yield information about where, when, and ideally to what extent collisions (penetrations, indentations, and so on) have occurred. Force-response algorithms compute the interaction force between avatars and virtual objects when a

collision is detected. This force approximates as closely as possible the contact forces that would normally arise during contact between real objects. Control algorithms command the haptic device in such a way that minimizes the error between ideal and applicable forces. The discrete-time nature of the haptic- rendering algorithms often makes this difficult.

3) HAPTIC DEVICES
3.1) LOGITECH WINGMAN FORCE FEEDBACK MOUSE: It is attached to a base that replaces This technology can also provide the mouse mat and contains the resistance to textures in computer motors used to provide forces back images, which enables computer to the user. users to "feel" pictures such as maps and drawings. Interface use is to aid computer users who are blind or visually disabled learners by providing a slight resistance at the edges of windows and buttons so that the user can "feel" the Graphical User Interface (GUI).

3.2) PHANTOM

It is a small robot arm with three revolute joints. Tip of the device is attached to a stylus that is held by the user. Resistive force is applied to the stylus when the device comes into 'contact' with the virtual model, providing accurate, ground referenced force feedback. The phantom system is controlled by three direct current (DC) motors that have sensors and encoders attached to them.

Used in surgical simulations and remote operation of robotics in hazardous environments

3.3) CYBER GLOVE The Cyber Glove has a software programmable switch and LED on the wristband to permit the system software developer to provide the Cyber Glove wearer with additional input/output capability. With the appropriate software, it can be used to interact with systems using hand gestures, and when combined with a tracking device to determine the hand's position in space, it can be used to manipulate virtual objects. 3.4) CYBER GRASP The CyberGrasp is a lightweight, force-reflecting exoskeleton that fits over a CyberGlove and adds resistive force feedback to each finger. With the CyberGrasp force feedback system, users are able to feel the size and shape of computer-generated 3D objects in a simulated virtual world. The device exerts grasp forces that are roughly perpendicular to the fingertips throughout the range of motion, and forces can be specified individually. The CyberGrasp system allows full range-of-motion of the hand and does not obstruct the wearer's movements

The CyberGrasp system offers enormous benefits for "real world" applications, including medical applications, virtual reality training and simulation, computer-aided design (CAD), and the remote handling of hazardous materials.

4) ADVANTAGES OF HAPTIC TECHNOLOGY

Advantages include that communication is centered through touch and that the digital world can behave like the real world. When objects can be captured, manipulated, modified and rescaled digitally, working time is reduced.

Medical field simulators allow would be surgeons to practice digitally, gaining confidence in the procedure before working on breathing patients.

With haptic hardware and software, the designer can maneuver the part and feel the result, as if he/she were handling the physical object.

5) APPLICATIONS
Gaming is one of the first applications of haptics. Haptic devices now are being applied to many areas such as: Medical training Scientific visualization CAD/CAM Computer animation Engineering design and analysis

Architectural layout Virtual Toys Remote vehicle and robot control, Automotive design Art Medical rehabilitation Interfaces for the blind E-commerce Tele-collaboration

6) LIMITATIONS OF HAPTIC DEVICES

Haptic applications can be extremely complex, requiring highly specialized hardware and considerable processing power.

Costs for haptics projects can be considerably high

Haptic interfaces can only exert forces with limited magnitude and not equally well in all directions. Haptic devices arent ideal force transducers. Haptic-rendering algorithms operate in discrete times whereas users operate in continuous times. Haptic device position sensors have finite resolution.

7) FUTURE ENHANCEMENTS

Force Feedback Provided In Web Pages: This underlying technology automatically assigns "generic touch Haptic torch for the blind: The device, housed in a torch, detects the distance to objects, while a turning Also in the works is simulated surgery. Just as commercial pilots train in flight simulators before they're Apart from these researches are in progress in many fields in which haptic technology can be used. sensations" to common Web page objects, such as hyperlinks, buttons, and menus. dial on which the user puts his thumb indicates the changing distance to an object. The device was tested and found to be a useful tool unleashed on real passengers, surgeons will be able to practice their first incisions without actually cutting anyone.

8) CONCLUSION
Haptics, the science of touch, lets computer users interact with virtual worlds by feel. Some commercial computer games already benefit from early haptic devices But haptics isn't all fun and games. Scientists use computers to simulate not only the impact of a golf club hitting the ball, but also the springiness of a kidney under forceps, and the texture of clothing for sale on the Internet. It is the technology of future. Its influence can already be seen in gaming industry and in near future its influence can be seen in other areas too. Haptic Technology is the only solution which provides high range of interaction that cannot be provided by virtual reality. Haptic is the future for online computing and e-commerce It will soon be a part of a persons normal computer interaction.

9) REFERENCES
1) 2) 3) 4) 5)
http://en.wikipedia.org/wiki/Haptic. http://news-service.stanford.edu/news/2003/april2/haptics-42.html http://www.immersion.com/corporate/press_room/pdfs/Value-of-Haptics_May07v1-lr.pdf www.sesable.com www.logitech.com