3D Haptics and Robotics.pptVIP

3D Haptics and Robotics What is this talk about? Haptic Interfaces “Haptic” - an information processing perceptual system that uses inputs from the receptors embedded in the skin, as well as in muscles, tendons and joints (Loomis and Lederman, 1986) “hap.tic (hap’tik) adj. of or having to do with the sense of touch; tactile” (Webster’s New World Dictionary) “haptic interfaces” - devices that measure the motion of, and stimulate the sensory capabilities within, our hands (as used in human interface technology ) Unique Characteristics of Haptics Haptics relies on action to stimulate perception. The haptic system can sense and act on the environment while vision and audition have purely sensory nature. Being able to touch, feel, and manipulate objects in an environment, in addition to seeing (and hearing) them, provides a sense of immersion in the environment that is otherwise not possible (Srinivasan, 1995) Other Topics Actuators (electrical, hydraulic, pneumatic) Sensors Tactile Feedback Interfaces (sensors, texture, slip, surface temperature) Control of Haptic Interfaces (distributed computation, quality) Physical Modeling (collision detection, surface deformation, mechanical compliance, smoothness, physical construction) Applications Enhancement of GUI’s (graphical user interfaces) - enable users to feel where the buttons on their programs are. Computer Games - engaging touch interactions, cost-sensitive market. Simulation for training humans - to perform tasks that require sensorimotor skills (surgery, training for naval personnel). Interaction with computer-generated 3D data - users of CAD/CAM, data visualization and other engineering and scientific applications. Medicine, Entertainment, Telerobotics. Human Haptics System Tactile Sensory System - distinguish vibrations up to 1 KHz; detection threshold on smooth glass plate - 2 m high single dot, 0.06 m high grating Kinesthetic Sensory System - bandwidth 20-30 Hz; JND (just noticeable distance) - 2.5o for finger