HAPTIC TECHNOLOGY

ABSTRACT
“HAPTICS”-- world with a stick. If
a technology that adds you push the stick into
the sense of touch to a virtual balloon push
virtual environment back .The computer
.Haptic interfaces communicates
allow the user to feel sensations through a
as well as to see haptic interface –a
virtual objects on a stick, scalpel, racket or
computer, and so we pen that is connected
can give an illusion of to a force-exerting
touching surfaces, motors.
shaping virtual clay or With this
moving objects technology we can
around. now sit down at a
The computer terminal and
sensation of touch is touch objects that
the brain’s most exist only in the
effective learning "mind" of the
mechanism --more computer.By using
effective than seeing special input/output
or hearing—which is devices (joysticks, data
why the new gloves, or other
technology holds so devices), users can
much promise as a receive feedback from
teaching tool. computer applications
Haptic in the form of felt
technology is like sensations in the hand
exploring the virtual or other parts of the

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body. In combination touch. The word comes
with a visual display, from the Greek
haptics technology can ‘haptesthai’, meaning
be used to train people ‘to touch’.
for tasks requiring The history of the
hand-eye coordination, haptic interface dates
such as surgery and back to the 1950s, when
space ship maneuvers. a master-slave system
In this paper was proposed by Goertz
we explicate how (1952). Haptic interfaces
sensors and actuators were established out of
are used for tracking the
the position and
movement of the
haptic device moved
by the operator. We
field of tele- operation,
mention the different
which was then
types of force
employed in the remote
rendering algorithms.
manipulation of
Then, we move on to a
radioactive materials.
few applications of
The ultimate goal of the
Haptic Technology.
tele-operation system
Finally we conclude by
was "transparency".
mentioning a few
That is, an user
future developments.
interacting with the
master device in a
master-slave pair should
Introduction
not be able to
1 What is
distinguish between
Haptics? using the master
Haptics refers to controller and
sensing and manipulating the actual
manipulation through tool itself. Early haptic

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 interface systems were Convert visual,
therefore developed audio, and force
purely for telerobotic signals from the
applications. computer into a
Working of form the operator
Haptic Devices can perceive.

Architecture for 1 • Rendering:

Haptic feedback: Process

Basic architecture for a by which

virtual reality application desired

incorporating visual, sensory

auditory, and haptic stimuli are

feedback. imposed on

1 • Simulation engine: the user to

Responsible for convey

computing the information

virtual about a virtual

environment’s haptic object.

behavior over
time.
1 • Visual, auditory,
and haptic The human operator

rendering typically holds or wears

algorithms: the haptic interface

Compute the device and perceives

virtual audiovisual feedback from

environment’s audio (computer

graphic, sound, speakers, headphones,

and force and so on) and visual

responses toward displays (a computer

the user. screen or head-mounted

• Transducers: display, for example).

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 Audio and visual the environment.
channels feature Moreover, haptic
unidirectional information rendering algorithms
and energy flow (from the ensure that the haptic
simulation engine towards device correctly renders
the user) whereas, the such forces on the human
haptic modality operator.
exchanges information
and energy in two
directions, from and To provide a haptic
toward the user. This bi simulation experience, systems
directionality is often are designed to recreate the
referred to as the single contact forces a user would
most important feature of perceive when touching a real
the haptic interaction object.
modality.
System There are two types of
architecture for forces:
haptic rendering: 1.Forces due to object
An avatar is the geometry.

virtual representation of 2.Forces due to object

the haptic interface surface properties, such

through which the user as texture and friction.

physically interacts with Geometry-

the virtual environment. dependent force-

Haptic-rendering rendering

algorithms compute the algorithms:

correct interaction forces The first type of force-

between the haptic rendering algorithms aspires to

interface representation recreate the force interaction a

inside the virtual user would feel when touching a

environment and the frictionless and textureless

virtual objects populating object.

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 Force-rendering onto surfaces being
algorithms are also grouped by rendered. The same can
the number of Degrees-of- be done haptically.
freedom (DOF) necessary to Controlling forces
describe the interaction force
delivered through
being rendered.
haptic interfaces:
Surface property-
Once such forces have
dependent force-
been computed, they must be
rendering algorithms:
applied to the user. Limitations
All real surfaces contain
of haptic device technology,
tiny irregularities or
however, have sometimes made
indentations. Higher accuracy,
applying the force’s exact value
however, sacrifices speed, a
as computed by force-rendering
critical factor in real-time
algorithms impossible. They are
as follows:
1 • Haptic interfaces can
only exert forces with
limited magnitude and
not equally well in all
directions
2 • Haptic devices aren’t
applications. Any choice of ideal force transducers.
modeling technique must An ideal haptic device
consider this tradeoff. Keeping would render zero
this trade-off in mind, impedance when
researchers have developed simulating movement in
more accurate haptic-rendering free space, and any finite
algorithms for friction. impedance when
In computer simulating contact with
graphics, texture mapping an object featuring such
adds realism to computer- impedance
generated scenes by characteristics. The
projecting a bitmap image friction, inertia, and

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 backlash present in most Types of Haptic
devices:
haptic devices prevent
There are two main types
them from meeting this
of haptic devices:
ideal.
3 • A third issue is that 1 • Devices that allow
haptic-rendering users to touch and
algorithms operate in manipulate 3-
discrete time whereas dimentional virtual
users operate in objects.
continuous time. 2 • Devices that allow
users to "feel"
textures of 2-
dementional
objects.

LOGITECH
WINGMAN
FORCE FEEDBACK
MOUSE
Finally, haptic device
It is attached to a
position sensors have
base that replaces
finite resolution.
the mouse mat
Consequently, attempting
and contains the
to determine where and
motors used to
when contact occurs
provide forces back
always results in a
to
quantization error. It can
the user.
create stability problems.
Interface use is to aid
All of these issues can
computer users who
limit a haptic application’s
are blind or visually
realism. High servo rates
disabled; or who are
(or low servo rate periods)
tactile/Kinesthetic
are a key issue for stable
learners by providing a
haptic interaction.
slight resistance at the
Haptic Devices edges of windows and

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buttons so that the user comes into 'contact' with
can "feel" the Graphical the virtual model,
User Interface (GUI). This providing accurate,
technology can also ground referenced force
provide resistance to feedback. The physical
textures in computer working space is
images, which enables determined by the extent
computer users to "feel" of the arm, and a number
pictures such as maps of models are available to
and drawings. suit different user
requirements.
PHANTOM:
Cyber Glove:

Cyber Glove can sense the

position and movement of the
fingers and wrist.

The basic Cyber

Glove system
The PHANTOM includes one
provides single CyberGlove, its
point, 3D force- instrumentation
feedback to the unit, serial cable to
user via a stylus (or connect to your
thimble) attached to host computer, and
a an executable
moveable arm. The version of VirtualHand
position of the graphic hand model
stylus point/fingertip display and calibration
is software.
tracked, and
The CyberGlove has
resistive force is
a software
applied to it when
programmable
the device

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switch and LED on computer that displays a
the wristband to virtual hand mimicking
permit the system the real hand’s flexes,
software developer tilts, dips, waves and
to provide the swivels.
CyberGlove wearer
with additional Applications
input/output
Medical
capability. training
Cyber Grasp:
The Cyber Grasp is a full

applications:
Such training
systems use the
hand force-feedback exo
Phantom’s force
skeletal device, which is
display capabilities
worn over the
to let medical
CyberGlove. CyberGrasp
trainees
consists of a lightweight
experience and
mechanical assembly, or
learn the subtle and
exoskeleton, that fits over
complex
a motion capture glove.
physical interactions
About 20 flexible
needed to become
semiconductor sensors
skillful in their art.
are sewn into the fabric of
A computer
the glove measure hand,
based teaching tool
wrist and finger
has
movement. The sensors
been developed using
send their readings to a
haptic technology to train

8
veterinary students to distance fields, and
multiresolution
examine the bovine
hierarchies for
reproductive tract, perceptually-driven fast
collision detection. These
simulating rectal
proximity queries have
palpation. The student been applied to haptic
rendering and rigid body
receives touch feedback
dynamics simulation.
from a haptic device while
Prostate Cancer:
palpating virtual objects.
The teacher can visualize
the student's actions on a
screen and give training
and guidance.

Collision Detection:- Prostate cancer is the

third leading cause of
death among American
men, resulting in
approximately 31,000
deaths annually. A
common treatment
method is to insert
needles into the prostate
to distribute radioactive
seeds, destroying the
cancerous tissue. This
Collision detection is a procedure is known as
fundamental problem in brachytherapy.
computer animation,
physically-based
modeling, geometric
modeling, and robotics. In
these fields, it is often The prostate itself and the
necessary to compute surrounding organs are all
distances between soft tissue. Tissue
objects or find deformation makes it
intersection regions. difficult to distribute the
seeds as planned. In our
research we have
In particular, I have developed a device to
investigated the minimize this
computation of global and deformation, improving
local penetration depth, brachytherapy by

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increasing the seed control theory, and
distribution accuracy. speech recognition.

Intelligent machines: This is being achieved by

collaborative efforts
The Centre for Intelligent involving researchers with
Machines is an inter- very different interests -
departmental inter-faculty CIM faculty and students
research group which was
come from the School of
formed to facilitate and
promote research on Computer Science,
intelligent systems. Department of Electrical
and Computer
Engineering, and the
Department of Mechanical
Engineering. It is this
diversity of interests
along with the spirit of
collaboration which forms
the driving force behind
this dynamic research
community.

Tactile slip display:

Intelligent systems and

machines are capable of
adapting their behavior
by sensing and
interpreting their Human fingers are able to
environment, making manipulate delicate
decisions and plans, and objects without either
then carrying out those dropping or breaking
plans using physical them, but lose this ability
actions. The mission of to a certain degree when
CIM is to excel in the field using a tele-operated
of intelligent machines, system. One reason for
stressing basic research, this is that human fingers
technology development, are equipped with sensors
and education. CIM seeks that tell us when our
to advance the state of fingerprints at the edge of
knowledge in such the contact area start to
domains as robotics, come off the object we
automation, artificial are holding, allowing us to
intelligence, computer apply the minimum force
vision, systems and necessary to hold the

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object. While several These flight simulators
other researchers have
look and feel so real that
built synthetic skins for
their robot fingers that a pilot who successfully
work in a similar way to
completes training on a
human fingerprints, a
tactile haptic device is top-of-the-line Level 5
needed to display these
simulator can
sensations to a human
using a tele-operated immediately start flying a
system. For this purpose
real commercial airliner.
we have designed the 2
degree of freedom Haptic
Slip Display. We have Today, all major
conducted psychophysical video consoles have built-
experiments validating
the device design and in tactile feedback
demonstrating that it can capability. Various sports
improve user
performance in a delicate games, for example, let
manipulation task in a you feel bone-crushing
virtual environment.
tackles or the different
Gaming technology:
vibrations caused by
Flight Simulations: Motors skateboarding over
and actuators push, pull, plywood, asphalt, and
and shake the flight yoke, concrete. Altogether,
throttle, rudder pedals, more than 500 games use
and cockpit shell, force feedback, and more
replicating all the tactile than 20 peripheral
and kinesthetic cues of manufacturers now
real flight. Some market in excess of 100
examples of the haptics hardware
simulator’s haptic products for gaming.
capabilities include
Mobile Phones:
resistance in the yoke
Samsung has made a
from pulling out of a hard
phone, which vibrates,
dive, the shaking caused
differently for different
by stalls, and the bumps
callers. Motorola too has
felt when rolling down
made haptic phones.
concrete runway.

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Cars: For the past two equipped on the remote
model years, the BMW 7 control car.
series has contained the
Robot Control: For
iDrive (based on
navigation in dynamic
Immersion Corp's
environments or at high
technology), which uses a
speeds, it is often
small wheel on the
desirable to provide a
console to give haptic
sensor-based collision
feedback so the driver
avoidance scheme on-
can control the
board the robot to
peripherals like stereo,
guarantee safe
heating, navigation
navigation. Without such
system etc. through
a collision avoidance
menus on a video screen.
scheme, it would be
The firm introduced difficult for the (remote)
haptic technology for the operator to prevent the
X-by-Wire system and robot from colliding with
was showcased at the obstacles. This is
Alps Show 2005 in Tokyo. primarily due to (1)
The system consisted of a limited information from
"cockpit" with steering, a the robots' sensors, such
gearshift lever and pedals as images within a
that embed haptic restricted viewing angle
technology, and a without depth
remote-control car. information, which is
Visitors could control a insufficient for the user's
remote control car by full perception of the
operating the steering, environment in which the
gearshift lever and pedals robot moves, and (2)
in the cockpit seeing the significant delay in the
screen in front of the communication channel
cockpit, which is between the operator and
projected via a camera the robot.

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 Experiments on The Virtual Braille
robot control using haptic Display (VBD) project
devices have shown the was created to
effectiveness of haptic investigate the
feedback in a mobile possibility of using the
robot tele-operation lateral skin stretch
system for safe technology of the
navigation in a shared STReSS tactile display
autonomy scenario. for Braille. The project
was initially conducted
Future
at VisuAide inc. and is
Enhancement now being continued in
s: McGill's Haptics
Laboratory.
Force Feedback
Provided In Web Haptic torch
Pages:
for
This underlying the
technology
automatically assigns
"generic touch
sensations" to
blind: The device,
common Web page
housed in a torch,
objects, such as
detects the distance
hyperlinks, buttons,
to objects, while a
and menus.
turning dial on
Virtual Brailee which the user puts

Display: his thumb indicates

the changing
distance to an
object. The pictured
device was tested

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and found to be a will soon be a part
useful tool. of a person’s normal
computer
CONCLUSION:
interaction.
Haptic is the future REFERENCES:
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