Hai Reneing触觉渲染课件.pptVIP

Haptic Rendering What is haptics?Using the sense of touch to interact with computers and virtual environments What is haptic rendering?The process of computing and generating forces in response to use interactions with virtual objects Why use haptics?Increases the information flow between the computer and the userIntrinsically bilateralWhen we push on an object, it pushes back on us Why use haptics? (2)Our sensing of forces is closely tied to our visual system and sense of three-dimensional spaceInformation and intent can be conveyed in a physically direct and primal way Haptic ApplicationsMedicineSurgical simulators for trainingManipulating robots for minimally invasive surgeryTelemedicine, remote diagnosisAccessibility for the disabled Haptic Applications (2)EntertainmentVideo games, simulators that enable the user to feel and manipulate objects in the environmentEducationFeel phenomena at a variety of spatial and temporal scalesStudying complex data sets Haptic Applications (3)IndustryCAD systemsVirtual prototypingAssembly and disassembly can guide final designShape sculptingExpressive, free-form shape generation and modification Haptic Applications (4)The artsVirtual painting, sculptingVirtual musical instruments Haptic interaction Human hapticsMechanical, sensory, motor and cognitive componentsTwo classes of sensory information:TactileKinesthetic Human haptics (2)Tactile informationFrom skin in contact with an objectSpatial and temporal variations of forces within the contact regionSlipping, fine textures, small shapes, and softness Human haptics (3)Kinesthetic informationNet forces along with position and motion of limbsCoarse properties of objectLarge shapes, spring-like compliances Human haptics (4)Kinesthetic resolution:2 degrees for fingers and wrist1 degree for shoulderForce exerted by a finger:50 to 100 N maximum5-15 N typically during exploration and manipulation Haptic interfaces What makes a good interface?Must work with human abilities and limitation