HAPTIC TECHNOLOGY

A Technical seminar report

Submitted By

MUTYALA RACHANA
(Regd. No: 16W91A05G2)

Under the Esteemed Guidance of

Mr. M. GANESH KUMAR

Assistant Professor, CSE
To

JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY

HYDERABAD
In partial fulfillment of the requirements for award of degree of

BACHELOR OF TECHNOLOGY

IN

COMPUTER SCIENCE & ENGINEERING

2016– 2020

Malla Reddy Institute of Engineering & Technology

(Sponsored by Malla Reddy Educational Society)

Approved by AICTE, New Delhi, Permanently Affiliated to JNTUH, Accredited by NBA, NAAC

ISO 9001-2015 Certified institution, Oracle Workforce Development Programme

Maisammaguda, Dhulapally (Post via Kompally), Sec’Bad - 500 100.

Phone: 040-65552040, Cell: 9676402671, 9676402608

Department of Computer Science and Engineering

 DECLARATION

I hereby declare that the technical seminar report entitled “HAPTIC

TECHNOLOGY” submitted to Malla Reddy Institute of Engineering and
Technology, affiliated to Jawaharlal Nehru Technological University Hyderabad
(JNTUH), for the award of the degree of Bachelor of Technology in Computer
Science & Engineering is a result of original industrial oriented seminar done
byme.

It is further declared that the seminar report or any part thereof has not been
previously submitted to any University or Institute for the award of degree or
diploma

M.RACHANA

16W91A05G2
 Malla Reddy Institute of Engineering & Technology
(Sponsored by Malla Reddy Educational Society)

Approved by AICTE, New Delhi, Permanently Affiliated to JNTUH, Accredited by NBA, NAAC

ISO 9001-2015 Certified institution, Oracle Workforce Development Programme

Maisammaguda, Dhulapally (Post via Kompally), Sec’Bad - 500 100.

Phone: 040-65552040, Cell: 9676402671, 9676402608

Department of Computer Science and Engineering

BONAFIDE CERTIFICATE

This is to certify that this is the bonafiedrecord of the technical seminar report
title“HAPTIC TECHNOLOGY” is submitted by M.RACHANA
(16W91A05G2)ofB.Tech in partial fulfilment of the requirements for the degree of
Bachelor of Technology in Computer Science and Engineering, Dept. of
Computer Science & Engineering and this has notbeen submitted for the award of
any other degree of this institution.

INTERNAL GUIDE PROJECT COORDINATOR

HEAD OF THE DEPARTMENT

 ACKNOWLEDGEMENT

First and foremost, I am grateful to the principle Dr.M.ASHOK, for providing me with all the
resources in the college to make my project a success. I thank him for his valuable suggestions at
the time of seminars which encouraged me to give my best in the seminar.

I would like to express my gratitude to Dr.P.KIRAN KUMAR REDDY, Dean of Academics for
his support and valuable suggestions during the dissertation work

I would like to express my gratitude to Mr.Dr.ANANTH RAMAN G R, Head of the

Department of Computer Science and Engineering for his support and valuable suggestions
during the dissertation work.

I offer my sincere gratitude to my project-coordinator Mr.M.GANESH, and my internal guide

Mr.NAGENDRA RAO Assistant Professor of Computer Science and Engineering who had
supported me throughout this project with their patience and valuable suggestions.

I would also like to thank all the supporting staff of the dept. Of CSE and all other departments
who have been helpful directly or indirectly in making the project a success.

I am extremely grateful to my parents for their blessings and prayers for my completion of
project this gave me strength to do my project.

M.RACHANA

16W91A05G2
 CONTENTS PAGE NO

LIST OF FIGURES

1. ABSTRACT

2. INTODUCTION 1

3. HISTORY OF HAPTICS 2

4. BASIC SYSTEM OF CONFIGURATION 3

5. CREATION OF VIRTUAL ENVIRONMENT 3

6. VIRTUAL REALITY 3

7. HAPTIC DEVICES 4

8. PHANTOM 4

9. CYBER GRASP 5

10. APPLICATION OF HAPTIC TECHNOLOGY 6

a. GAME 6

b. MEDICAL 6

c. ROBOTICS 6

11. GAME 7

12. MEDICAL 9

a.MEDICINE AND HEALTHCARE 10

13.ROBOTICS 12

14.ADVANTAGES 17
15.DISADVANTAGES 17

16.CONCLUSION 18

17.REFERENCE 19
 ABSTRACT

Engineering as it finds its wide range of application in every field not an exception even
the medical field. One of the technologies which aid the surgeons to perform even the most
complicated surgeries successfully is Virtual Reality.

Even though virtual reality is employed to carry out operations the surgeon’s attention is
one of the most important parameter. If he commits any mistakes it may lead to a dangerous end.
So, one may think of a technology that reduces the burdens of a surgeon by providing an efficient
interaction to the surgeon than VR. Now our dream came to reality by means of a technology
called “HAPTIC TECHNOLOGY”.

Haptic is the “science of applying tactile sensation to human interaction with

computers”. In our paper we have discussed the basic concepts behind haptic along with the
haptic devices and how these devices are interacted to produce sense of touch and force feedback
mechanisms. Also the implementation of this mechanism by means of haptic rendering and
contact detection were discussed.

We mainly focus on ‘Application of Haptic Technology in Surgical Simulation and

Medical Training’. Further we explained the storage and retrieval of haptic data while working
with haptic devices. Also the necessity of haptic data compression is illustrated.
 LIST OF FIGURES

FIGURE NO FIGURE NAME PAGE NO

2.1 Basic System Configuration 11

2.2 Haptic Devices 12

2.3 Phantom 13

2.4 Cyber Grasp System 14

2.5 Game 15

2.6 Medical 17

2.7 Medical Architecture 18

2.8 Robotics 21

2.9 Haptic Surgery 22

 Introduction

Haptic, is the term derived from the Greek word, haptesthai, which means ‘to touch’.
Haptic is defined as the “science of applying tactile sensation to human interaction with
computers”. It enables a manual interaction with real, virtual and remote environment. Haptic
permits users to sense (“feel”) and manipulate three-dimensional virtual objects with respect to
such features as shape, weight, surface textures, and temperature.
A Haptic Device is one that involves physical contact between the computer and the
user. 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.
In our paper we explain the basic concepts of ‘Haptic Technology and its Application
in Surgical Simulation and Medical Training’.
Haptics=touch=connection

Touch is the code of personal experience `

1
 History of Haptics
One of the earliest applications of haptic technology was in large aircraft that
use servomechanism systems to operate control surfaces.[7] In lighter aircraft without servo
systems, as the aircraft approached a stall, the aerodynamic buffeting (vibrations) was felt in the
pilot's controls. This was a useful warning of a dangerous flight condition. Servo systems tend to
be "one-way," meaning external forces applied aerodynamically to the control surfaces are not
perceived at the controls, resulting in the lack of this important sensory cue. To address this, the
missing normal forces are simulated with springs and weights. The angle of attack is measured,
and as the critical stall point approaches a stick shaker is engaged which simulates the response
of a simpler control system. Alternatively, the servo force may be measured and the signal
directed to a servo system on the control, also known as force feedback. Force feedback has been
implemented experimentally in some excavators and is useful when excavating mixed material
such as large rocks embedded in silt or clay. It allows the operator to "feel" and work around
unseen obstacles.

In the 1960s, Paul Bach-y-Rita developed a vision substitution system using a 20x20 array of
metal rods that could be raised and lowered, producing tactile "dots" analogous to the pixels of a
screen. People sitting in a chair equipped with this device could identify pictures from the pattern
of dots poked into their backs.

The first US patent for a tactile telephone was granted to Thomas D. Shannon in 1973. An early
tactile man-machine communication system was constructed by A. Michael Noll at Bell
Telephone Laboratories, Inc. in the early 1970s and a patent was issued for his invention in 1975.

2
 Fig2.1.Basic System Configuration

CREATION OF VIRTUAL ENVIRONMENT

Virtual Reality:
allows user to interact with a computer-simulated environment.

Users interact with a VR either through input devices or through multimodal devices.

Simulated environment can be either similar or different from reality

Very difficult to create a high fidelity VR experience due to technical limitations

Used to describe a wide variety of applications

3
HAPTIC DEVICE

Force feedback is the area of haptics that deals with devices that interact with the muscles and
tendons that give the human a sensation of a force being applied-hardware and software that
stimulates humans' sense of touch and feel through tactile vibrations or force feedback.
These devices mainly consist of robotic manipulators that push back against a user with the
forces that correspond to the environment that the virtual effector's is in. Tactile feedback makes
use of devices that interact with the nerve endings in the skin to indicate heat, pressure, and
texture. These devices typically have been used to indicate whether or not the user is in contact
with a virtual object. Other tactile feedback devices have been used to stimulate the texture of a
virtual object.
PHANTOM and CyberGrasp are some of the examples of Haptic Devices.

Fig 2.2.Haptic Devices

PHANTOM
A small robot arm with three revolute joints each connected to a computer-controlled
electric DC motor. The tip of the device is attached to a stylus that is held by the user. By sending

4
appropriate voltages to the motors, it is possible to exertution pounds of force at the tip of the
stylus, in any direction

Fig.2.3. Phantom

CYBER GRASP SYSTEM

The CyberGlove is a lightweight glove with flexible sensors that accurately measure the
position and movement of the fingers and wrist. The CyberGrasp, from Immersion Corporation,
is an exoskeleton device that fits over a 22 DOF CyberGlove, providing force feedback. The
CyberGrasp is used in conjunction with a position tracker to measure the position and orientation
of the fore arm in three-dimensional space.

5
 Fig.2.4. CyberGraspSystem

APPLICATION OF HAPTIC TECHNOLOGY

. Game

. Medical

. Robotics

6
Game

Fig.2.5. Game

Today, playing a video game is a different story than what it was twenty years ago in many

senses. Game consoles have steadily gained popularity not only among kids but also among

other age groups. For example, today, the Xbox 360 from Microsoft comes with Kinect
technology which is based on webcam built in system for users to control and interact with the
console without the need for conventional game controller to bring entertainment and
playing games to people of all ages. On the other hand electronic gadgets including smart
phones have changed the way game controllers, pads, buttons, joy sticks can be used with
the incorporation of haptic and sensing technologies. Additionally, impressive graphics and
3D rendering displays are creating virtual environments more realistic which have the
potential to capture the gamer’s attention all throughout the gaming process. As stated by
Jurgelionisand others: “The increasing number of broadband users, and a demand for
quality and diversity in entertainment services drives the development of new pervasive
entertainment systems” (Jurgelionis et al., 2007). Indeed, they also stated that such
entertainment systems should be accessible without any limits on time and location.
In the real world, people receive and disseminate information in three-dimensional space.

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Computers, through graphical user interfaces, allow users to perceive an imitated three-
dimensional world that exists in the real world. Such a virtual world can be enhanced in a
more complete imitation of the real space by the introduction of an artificial support
technology called haptics. A haptic interface is a device that allows a user to interact with
computer by receiving tactile and force feedback. The interaction can embrace the entire
body or only the tip of a finger, giving the user information about the nature of objects
inside the world. The introduction of haptics permits one to enhance a vast spectrum of
human tasks in a virtual environment.
Currently, haptic research and technology has been focused on designing and evaluating
prototypes of different features and capabilities for the use in virtual environments. The
evidence is that, some of these prototypes have become commercially available to the
market. In that sense, applications of this technology have been invaded rapidly from
devices that can interact with sophisticated graphical user interfaces (GUI’s), games,
multimedia publishing, scientific discovery and visualization, arts and creation, editing
sound and images, the vehicle industry, engineering, manufacturing, Tele-robotics and Tele-
operations, education and training, as well as medical simulation and rehabilitation.
Haptics Rendering and Applications 218
For the time being we could argue that haptic research related to home entertainment and
computer games has blossomed and impacted the development of technology during the
past few years.
It is well-know that the game experience comprises four aspects: physical, mental, social,
and emotional (El Saddik, 2007). It is on the physical aspects that, force feedback technology
(haptics) enhances the game experience by creating a more realistic physical feeling of
playing a game. This physical experience can be translated for example in improving the
physical skills of the players, and imitating the use of physical artefacts. By using existing,
well-developed game engine components—specifically, a scene graph library and physics
engine – and augmenting them with the design and implementation of haptic rendering
algorithms, it is possible to create a highly useful haptic game development environment.
This can be reflected in a rich environment which provides to players or users a higher sense
of immersion as well as new and interesting ways to interact with the game environment. In
addition this simulated world can be used to do research on applications such as physical
rehabilitation, driving training simulation and more.
Currently, a diverse spectrum of games available in the market take advantage of the force

8
depending on the physical properties of the objects that can be perceived. The hardware
components of this interface play an important role in displaying these forces through the
response sensors to the user. Unlike computer graphics, the behaviour of haptic interaction
is bidirectional, due to energy and information flow in both directions from the user to the
haptic interface and vice versa.

Medical

Humanhaptics: human touch perception and manipulation. Machine haptics concerned with
robot arms and hands computer haptics: concerned with computer mediated.

.A primary application area for haptics has been in surgical simulation and medical training. Haptic
rendering algorithms detect collisions between surgical instruments and virtual organs and render
organ-force responses to users through haptic interface devices. For the purpose of haptic rendering,
we've conceptually divided minimally invasive surgical tools into two generic groups based on their
functions.

Long,thin,straight probes for palpating or puncturing the tissue and for injection(puncture and injection
needles and palpation probes)

Articulated tools for pulling,clamping, Gripping,and cutting soft tissues

Fig.2.6. Medical

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The Touch of the Future – The promising future of Haptic Technology in Medicine
Architecture and More!

Love, compassion, joy, affection, warmth… All our emotions come alive through the sense of
touch. Be it the physical world or artificial, the sense of ‘reality’ is massively governed by touch.
So, it is obvious that a better future will need a heightened response to touch stimuli. When
Haptic Technology together with other promising innovations such as Virtual
Reality, Augmented Reality, 3D Virtual Worlds and 3D Visualization rise to prominence, our
entire perception of the world will be elevated to a whole new level of grandeur.

Fig.2.7. Medicine Architecture

Medicine and Healthcare

‘Paradox Robotics’ gave us an idea of about how Haptic technology can revolutionize the field of
medicine and healthcare. One may not be wrong to say that it is advancements in the healthcare
industry that has helped mankind thrive and survive this far. Diseases that were seemingly
impossible to cure have now become easy to solve cases for healthcare specialists. With Virtual
Reality, Artificial Intelligence, 3D Virtual Worlds and Haptic Technology on the rise, healthcare
is set to conquer every possible territory there is.

On a typical scenario, it is you who goes and sees a doctor. But what if you can bring the doctor
to your room. And not just the best doctor in your locality. The best doctor in the world! When

10
VR becomes a common entity in the web, you can just take a visit to a virtual clinic set up
anywhere in a Metaverse and get yourself attended by the best possible doctor. There will be
virtual digital assistants in the form of automated robots in every virtual clinic that can direct you
to the best doctor you will need. With Haptic Technology, the sense of touch will be
uncompromised and you can feel your doctor’s fingers on you remaining thousands of miles
away. Doctors will not even have to open you up in case of a surgery. Smart Dust, a system of
numerous tiny microelectromechanical systems such as sensors, robots and other devices that can
detect light, temperature, vibration, magnetism, chemicals etc are soon expected to have a
widespread presence. So, you can visit any doctor of your choice using VR and if needed doctors
can easily implant a smart dust, diagnose your problem through a computer screen and treat it
with simple computer programs instead of all the complex surgery! Sensors attached to your
body can give instant feedback about your health to your specialist and either he himself or a
virtual assistant can appear before you and remind you to have your medicines or increase your
daily workout. Any potential threat to your health can be detected at its earliest stage of
interference.

Medical students can gain experience from surgeons anywhere in the world as they can easily
participate in a live surgery. Additionally, they can also conduct their studies and experiments in
real lifelike 3D replicas that will give the exact same feeling of touch as a human being. This will
significantly bring down the cost incurred in teaching and also the risk associated with a patient.
Students can easily be taught how to deal with an emergency situation and keep them prepared to
face that in real life. For example, they can be provided with a three-dimensional demo situation
where they have to save a patient in the next five minutes. The training can be repeated any
number of times so that there is no panic or unrest when such a situation happens in reality.

Look around you. There is a masterful design in almost everything that we see around us. We
may not really give due credit every time but every little thing that we see around is the end
result of a creative design. From the pen in your hand to the water bottle, notepad, computer table
and even the building you work in! Engineering, design, and architecture have played a great role
in making the world as beautiful as today. It is going to look even better with efficient utilization
of Haptic Technology.

In a traditional method, a designer gets to see his product only after it has completed production.
So, even if the design was made through careful consideration, there are still possibilities for
minor flaws. Imagine the kind of time, money, and energy that is wasted here. But what if instead
of waiting for a prototype, you could see your end product the moment you design it. This is
where modern-day 3Dvisualization and VR techniques are taking us to. Without proper Haptic
Technology, these methods serve absolutely no use. As you design, you could see how each part

11
would appear in the end product and you could go on to make modifications. For example, with
gestures you will be able to design a car bonnet and instantly see how the bonnet would appear in
the final car. You can easily try any number of designs as you wish until you find the best one.
So, while designing any product, future Haptic Technology will provide the designers greater
flexibility and they will instantly be able to come up with quality solutions. Designers from
anywhere in the world can remain in their own living rooms and work on a product. Through
efficient visualization and haptics, they can smoothly collaborate with each other. Everyone will
clearly know what the other is working on and how their work will reflect in the final product.
They can also get any of their queries instantly addressed. The same benefits can be reaped by
the industry of construction too.

Robotics
In the robotics and virtual reality literature, haptics is broadly defined as real and
simulated touch interactions between robots, humans, and real, remote, or simulated
environments, in various combinations. The goal of haptic technology in robot-assisted
minimally invasive surgery is to provide “transparency”, in which the surgeon does not feel as if
he is operating a remote mechanism, but rather that his own hands are contacting the patient. This
requires artificial haptic sensors on the patient-side robot to acquire haptic information,
and haptic displays to convey the information to the surgeon (Figure 1). We categorize haptics as
kinesthetic (related to forces and positions of the muscles and joints ) and/or cutaneous (tactile;
related to the skin) in nature. Haptics includes force, distributed pressure, temperature, vibrations,
and texture, which are in some cases difficult to model and quantify, let alone acquire and
display. To provide myriad haptic information to the surgeon without sacrificing the
maneuverability and dexterity afforded by the RMIS system is a major technical challenge.
Simultaneously, the robot components, particularly disposable instruments, must remain low cost
and robust.

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 Fig.2.8.Robotics

As a technical field, haptics research has been active for several decades. In the 1990s,
haptics research expanded significantly with the availability of high-fidelity, commercially
available force feedback systems from companies such as SensAble Technologies, Inc. (Woburn,
MA, USA) and Immersion, Inc. (San Jose, CA, USA). Currently, much of the force feedback
research focuses on developing practical systems for application in fields such as entertainment,
education, training, medicine and dentistry, and rehabilitation. While researchers have studied
tactile feedback for many years, there is currently no commercially available tactile display
system thatprovides distributed information to the skin in a compact package feasible for
applications. One aspect of tactile feedback that has proven effective in applications such as
video games is vibration feedback, in which a single vibrating actuator is typically used to
provide information about events such as making and breaking contact. Further reading about
haptic technology includes books tutorials and research reviews. Recent reviews of haptics in
surgery.

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 Fig.2.9. Haptic Surgery

Direct force feedback to the surgeon's hands can use conventional force display technology, in
which the motors of the master manipulator are programmed to recreate the forces sensed by the
patient-side robot. A dexterous surgical robot typically has seven degrees of freedom of motion,
including translational, rotational, and gripping. However, not all of those degrees of freedom are
actuated on the master. That is, the system cannot provide force feedback in certain directions.
The effects may be negligible or detrimental, depending on the directions of force feedback lost .
The dynamics of the master manipulator can also limit the accuracy of the force display, but a
more fundamental limitation is the trade-off between system stability and transparency for force
feedback. A perfectly transparent telemanipulator is not possible because it would require perfect
models of the master and patient-side robot dynamics, zero time delays from computer
processing and information transmission, and perfect environment force sensing or estimation.
As one pushes toward the limit of transparency, small errors and delays in the system can cause
uncontrollable oscillations in a “closed loop” teleoperator – this is known as instability and
would be unacceptable in surgery. An alternative approach is to use sensory substitution to
display force, including audio feedback , graphical feedback, or other forms of haptic feedback
such as vibrotactile display . Substantial information about environment properties and forces can
be acquired by simply observing visually how the patient's tissue and materials such as suture
respond to motions of the surgical instruments. A design guideline is that sensory substitution
through graphical overlays should not distract from the surgeon's view of the patient via the
endoscopic camera(s) .

In the last few years, several research groups have used force sensing and feedback techniques
described above to test the effectiveness of haptic feedback on surgeon performance and

14
“outcomes” in phantom patients. All the experiments to date are preclinical. (Current commercial
systems that use haptic feedback include those of Hansen Medical and MAKO Surgical Corp;
however, no data exits demonstrating the relative effectiveness of those systems with and without
haptic feedback.) Ortmaier, et al.found that haptic feedback reduced unintentional injuries during
a dissection task. However, operating time was longer than that of a manual intervention. Wagner
and Howe found that force feedback reduces potential tissue damage (as measured by the level of
applied force) for both surgeons and non-surgeons, but only surgically trained individuals
improve performance without a significant increase in trial time.

They hypothesize that this is due to the interaction between visual-spatial motor abilities and the
information contained in the mechanical interaction forces. Cao et al. used a virtual environment
to demonstrate the surgeons performed a TransferPlace task faster and more accurately with
haptics than without, even under cognitive load.

Mahvash et al. used a modified da Vinci Surgical System to demonstrate that, in a palpation task,
direct force feedback is superior to graphical force displays. Due to the limited fidelity of force
feedback of their system (which did not use force sensors), users’ identification of hard lumps in
artificial tissue was only correct for models with significantly different mechanical properties
between the lumps and surrounding tissue. Zhou et al. did a study of MIS that showed that with
trocar friction, one of the undesirable forces that also arises in RMIS, surgeons’ force perception
was degraded and the time to detect contact was longer. When friction was present, experienced
surgeons detected contact with tissue faster than novices. Compared to no force feedback, Reiley
et al. found that graphical displays of applied force during a knot-tying task reduced suture
breakage and overall applied forces, while increasing consistency of applied forces for
inexperienced robot-assisted surgeons. In contrast to the direct force feedback results from , the
results of Reiley, et al. suggest that graphical force feedback primarily benefits novices, with
diminishing benefits among experienced surgeons. In a simple grasping task, Tholey, et al.
[Tholey 2005] found that providing both vision and force feedback leads to better tissue
characterization than only vision or force feedback alone.

One would expect that better performance is achieved with direct force feedback than graphical
feedback; sensory substitution systems are unnatural and thus have a longer learning curve, and
direct force feedback provides physical constraints that helps a surgeon make the correct motions
simply due to dynamic force balance . There is an alternative to force feedback from the
environment that provides such useful physical constraints: virtual fixtures. These are software-

15
generated force and position signals applied to human operators in order to improve the safety,
accuracy, and speed of robot-assisted manipulation tasks . For example, a virtual “wall” may be
placed around a delicate anatomical structure to keep the surgical instruments from contacting it.

Although this article focuses on haptic feedback in actual surgeries, it is worth noting that the
role of force feedback in training is a topic of current research. Virtual reality simulators have
proven highly effective in developing laparoscopic minimally invasive surgery (MIS) skills,
especially when force feedback is provided in early training. However, accurate modeling of
tissue-instrument interaction that gives rise to motions and forces relevant to outcomes is not yet
achievable at computation rates that allow real-time interaction.

Compared to force feedback, there has been relatively little work done in the area of tactile
feedback for RMIS. In many surgical procedures, such as suture knot tying, force feedback is
sufficient; the addition of contact location, finger pad deformation, and pressure distribution
information may not be necessary . However, palpation is one task for which deformation of the
fingerpad seems to be particularly relevant , motivating the need for tactile feedback.

As in force feedback, tactile feedback systems require both a sensor and a display. The goal of
tactile sensing in RMIS can be to detect local mechanical properties of tissue such as compliance,
viscosity, and surface texture – all indications of the health of the tissue – or to obtain
information that be used directly for feedback to a human operator, such as pressure distribution
or deformation over a contact area . Constraints in sensor design include cost, size, geometry (for
example, to fit within a laparoscopic grasper), biocompatibility, and surface finish to allow
grasping. Many sensors require some deformation of the sensor in order to measure distributed
information; this necessitates flexible coverings, which also remove detailed, local information.
In addition, data recording from tactile sensors is difficult because they often include many
individual sensing elements; wireless communications are possible, but power must still be
cabled to the instrument tip. Examples of tactile sensors include arrays of capacitive sensors and
force-sensitive resistors instrumented membranes , and micromachined piezoelectric arrays .
Companies that sell tactile array systems include Pressure Profile Systems, Inc. (Los Angeles,
CA, USA) and TekScan, Inc. (South Boston, MA, USA). Data relevant to tactile information can
also be obtained through other means, such as laparoscopic ultrasound .Tactile displays attempt
to create the perception that the surgeon's fingertip is directly contacting the patient or surgical
material such as suture. The most literal type of tactile display is an array of pins that are
individually actuated , so that their position commands are easily mapped from data from an

16
array-type tactile sensor. Making such array-type displays for RMIS is very challenging due to
size and weight constraints. The display must sit at the end of the master manipulator and not
impede its maneuverability. Such pin displays developed for MIS and RMIS are actuated using
shape-memory alloys, micromotors, and pneumatic systems . The latter method allows the most
lightweight display to be attached to the master manipulator, but requires infrastructure for air
pressure, which can be noisy, and has limited resolution. Little work has been done to combine
kinesthetic and tactile information for surgery, but one study demonstrates that the ability to
maintain an appropriate force in the remote environment is necessary for the surgeon to take full
advantage of the spatially distributed force information from the tactile sensor. Graphical
displays of tactile data can also be very compelling, especially for diagnosis applications. Most of
the tactile sensors and displays developed have not been tested in RMIS systems. Due to the
complexity of integrating distributed tactile information into RMIS, it may be useful in the future
to consider clever “tactile illusions” and other display methods recently developed in the haptics
research community.

ADVANTAGES OF HAPTIC TECHNOLOGY

The advantages of Haptic Technology are

1. Digital world can be experienced and perceived

2. Easily accessible and user friendly.
3. Accuracy and precision is high.

DISADVANTAGES OF HAPTIC TECHNOLOGY

The disadvantages of Haptic Technology include:

1. Involves complex designing as Haptic devices requires precision of touch.
2. High initial cost involved.

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 CONCLUSION

We finally conclude that Haptic Technology is the only solution which provides high
range of interaction that cannot be provided by BMI or virtual reality. Whatever the technology
we can employ, touch access is important till now. But, haptic technology has totally changed
this trend. We are sure that this technology will make the future world as a sensible one.

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 REFERENCES

 http://haptic.mech.nwu.edu/
 http://haptic.mech.nwu.edu/intro/gallery/
 http://www.cs.cmu.edu/afs/cs.cmu.edu/project/msl/www/virtual/virtual_desc.html
 http://www.sensable.com/
 http://www.haptech.com/
 http://www.dgp.toronto.edu/people/BillBuxton/InputSources.html
 http://www.howstuffworks.com/internet-odor1.htm/
 http://www.abc.net.au/science/slab/robo/emotional.htm/
 http://www.www.ieee.org/organisatio9ns/eab/precollenge/faraday/worksheets/03smells
.pdf.com/

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