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HapticsHapticsME7960, Sect. 007Lect. 1: Overview
Spring 2011Prof William ProvancherProf. William Provancher
University of UtahSalt Lake City, UT USA
We would like to acknowledge the many colleagues whose course materials were borrowed and adapted in putting together this course, namely: Drs. Allison Okamura (JHU), Katherine Kuchenbecker (U Penn), Francois Conti, Federico Barbagli, and Kenneth Salisbury (Stanford), Ed Colgate (Northwestern), Hong Tan (Purdue), Blake Hannaford and Ganesh Sankaranarayanan (U. Washington), and Karon MacLean (UBC).
T d ’ ClToday’s Class
Haptics: definition Haptics: definition Course overview and mechanics Introduction to Haptics
Haptics overviewHi t History
High-level taxonomy of haptic devices Applications/Motivations Applications/Motivations Current challenges
Readings
2
Readings
Haptics
Haptics comes from Greek word ἅπτεσθαι Haptics comes from Greek word ἅπτεσθαι (haptesthai) which means “touch”
Haptics is to touch as Optics is to sight
3-3-
hap·tic ('hap-tik)hap tic ( hap tik)adj.
Of or relating to the sense of touch; tactile.[G k h tik f h t th i t t h (1890)][Greek haptikos, from haptesthai, to grasp, touch. (1890)]
• Location/configuration• Motion
Kinesthesia
• Temperature
• Force• ComplianceCutaneous
• Texture • Slip• Vibration• Force
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• Force• Pain
© J. Edward Colgate 2006
Obj ti f thiObjectives of this course Gain broad perspective of haptics p p p Haptic perception Psychophysics
Design and control of haptic interfaces Design and control of haptic interfaces Stability Haptic Rendering Teleoperation
Hands-on experience with haptics Homework/Labs and Project Homework/Labs and Project
Gain some familiarity with current research and literature
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Identify opportunities for research in haptics
Acknowledgmentsg
Katherine Kuchenbecker, U. Penn
Allison M. Okamura, JHU
J. Edward Colgate, Northwestern
Ken Salisbury, Stanford
Blake Hannaford, UW
6
Ganesh Sankaranarayanan, UW Federico Barbagli, Stanford and Hansen Medical
Francois Conti, Stanford
© K. Kuchenbecker + W. Provancher 2008
Ad i i t ti D t ilAdministrative Details
Class time is T Th 10:45 12:05 pm Class time is T Th 10:45-12:05 pm Dr. Provancher’s office hours:
TBA @ 2136 MEB TBA @ 2136 MEB Class Location: 3147 MEB Lab Location: 2172 MEB Readings: To be posted on class website Course Website:
http://mech.utah.edu/haptics
7
ttp // ec uta edu/ apt cs
Course Website:htt // h t h d /h tihttp://mech.utah.edu/haptics Readings password protected (to avoid the wrath of publishers)g p p
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G diGrading 10% Class participation/contribution
A k ti ! Ask questions! Offer opinions, insights, during class and discussions
35% Homework/Labs 7-10 assignments
10% Individual paper presentationsE h t d t t i 10 i t t lk h Each student team gives a 10 minute talk on research paper
35% Project 33% of this for the final report
10% Project presentations and DemoEach student team gives a 15 minute presentation of
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Each student team gives a 15 minute presentation of their project
C St tCourse Structure
First Half to Two Thirds First Half to Two-Thirds Lectures, readings, homework/labs
Last Half or ThirdP t ti d di i Paper presentations and discussions
ProjectP j t t ti d d t Project presentations, demo, and report
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C t t f th CContent of the Course Human haptic sensing neurophysiology and Human haptic sensing, neurophysiology and
psychophysics Device design - haptic devices and tactile devices Haptic rendering Issues in device design for humans
St bilit l i Stability analysis Fundamentals of teleoperation and control Improvements in haptics Improvements in haptics Modeling humans (limbs and system ID) Event-based haptics
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Event based haptics
Wh I?Who am I? Mechanical Engineering Mechanical Engineering Adjunct appointment in Computer Science
4 primary research topics 4 primary research topics Design of tactile displays and tactile perception Haptic guidance systems (e.g., active handrest)p g y ( g , ) Embedded manufacturing (embedded sensing
and actuation in multi-material structures) Climbing Robots
Haptics and Embedded Mechatronics LabR l t d R h
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Related Research
Fingertip Shear Feedback for Haptic Guidance
Tactile feedback provides a new means for communication and provides possible safety advantages due to reduced cognitive load.
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Active Handrest for Precision Active Handrest for Precision Manipulation and Ergonomic SupportManipulation and Ergonomic SupportManipulation and Ergonomic SupportManipulation and Ergonomic Support
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Device Control Inputs
30 mm/s rapid 10 mm/s while drawing
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30 mm/s rapid, 10 mm/s while drawing
Wh ?Who are you? Grads/Undergrads Grads/Undergrads
ME CS BME ECE ? ME, CS, BME, ECE, ?
Research interests Research interests
T k d i d d b k d i Take and review ungraded background quiz Hand in at end of class (at latest by next class) Those who need to get into this class must complete
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Those who need to get into this class must complete this today
© A. Okamura, 2006
G tti th t t f lGetting the most out of class
Learning Method % RetentionLearning Method % Retention What one reads 10% What one hears 26% What one sees 30% What one sees and hears 50% What one speaks 70% p
J.E. Stice, Engineering Education, pp. 291-296, 1987
17© A. Okamura, 2006Any Questions?
Origins of HapticsMechanical Teleoperation
Ray Goertz Argonne National Lab 1940s Ray Goertz, Argonne National Lab, 1940s
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Modern Teleoperation
JASON, e.g. Sayers (1999)
JPL
19© K. Kuchenbecker 2008
Haptic Interaction with Virtual Obj tObjects
Information and power flows
Courtesy Mandayam Srinivasan MIT
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Courtesy Mandayam Srinivasan, MIT
© Barbagli, Conti, Salisbury 2008
S t i lSome terminology “Haptic” refers to the perceptual system that draws Haptic refers to the perceptual system that draws
information from the skin and kinesthesis “Proprioception” is the unconscious perception of Proprioception is the unconscious perception of
movement and spatial orientation arising from stimuli within the body itself
“Kinesthesia” is the sense that detects bodily position, weight, or movement of the muscles, tendons and jointstendons, and joints
“Tactual Stereognosis” is the perception of the form of an object by means of touch
21
of an object by means of touch
Types of Haptic Sensing Jointyp p g
Kinesthetic / Proprioceptive
Joint
Stems from body movement
Skin Surface
Cutaneous / TactileCutaneous / Tactile Stems from skin contact
22Illustration by A. M. Okamura.
© K. Kuchenbecker 2008 + W. Provancher 2009
Haptic Interfaces
Kinesthetic (F F db k) Displa sKinesthetic (Force Feedback) Displays Devices that provide forces or motions
TactileDisplay
Hybrid Haptic DisplaysAttempt to combine kinesthetic and tactile feedback
T til Di l
23
Tactile Displays Devices that stimulate skin to create touch sensation
© K. Kuchenbecker + W. Provancher, 2008
Ki th ti Di lKinesthetic Displays
Devices that provide forces or motionsDevices that provide forces or motions
Device TaxonomyDevice Taxonomy Grounded devices Body-based devices Inertial reaction devices
Transmission Types Impedance (Low inertia, backdriveable)
Ad itt ( b kd i bl )
24
Admittance (non-backdriveable)
Grounded kinesthetic devicesI d TImpedance Type
SensAble Phantom PremiumsI i I l E i SensAble Phantom Premiums Immersion Impulse Engine
Haptic Paddle
SensAble Omni MPB Freedom6S
Magnetic Joystick, Hollis g y ,
25Force Dimension Omega
Novint Falcon
© Colgate, Kuchenbecker, Provancher 2008/2009Exoskeleton, Rosen
Grounded kinesthetic devicesAd itt TAdmittance Type
Cobot Hand Controller[F l i /C l t ]
26© J. Edward Colgate 2006
[Faulring/Colgate]http://lims.mech.northwestern.edu/projects/handcontroller
Haptic Master (Moog Inc.)
B d b d d iBody-based devices
Cybergrasp Cybergrasp Rutgers Hand Master Arm Exoskeleton
Immersion CyberGrasp Glove
EXOS EAM Arm Exoskeleton
27© Colgate, Kuchenbecker, Provancher 2006-2009
Inertial Reaction Devices(Vibrotactile feedback)
Game controllers Game controllers
motorsshafts Vibrotactors are also
28
eccentric masses
© J. Edward Colgate 2006 + W. Provancher 2010
in cell phones
Quick Demo• Grounded kinesthetic device – Impedance Type• Grounded kinesthetic device – Impedance Type• Reaction Devices (Vibrotactile feedback)
Haptic PaddleVibrotactorMounted on
29© Provancher 2011
Haptic Paddle Mounted on Plastic disk
T til Di lTactile Displays Devices that stimulate skin to create touch sensation
Device Taxonomy Pin Arrays
Arrays of vertically moving pins Arrays will laterally moving pins (Hayward and others)
Slip Display (Colgate, Caldwell, and others) Shear Display
Variable friction display (Colgate and others)Variable friction display (Colgate and others) Shear motion (Provancher and others)
Contact Location Display (Provancher)
Other Technologies Other Technologies Vibrotactile: Pager motors and voice coils Pneumatic Electrotactile
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Suction Ultrasonic Pressure Etc…
Pin Arrayswith vertically moving pins
Burdea & Coiffet (1994)
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Kontarinis, et al. (1995)
Wagner, et al. (2002) Kaczmarek, et al. (1995)
© K. Kuchenbecker 2008 + W. Provancher 2009
Pin Arrayswith laterally moving pins
Hayward, et al. (2003-7)
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Wang, et al. (2006) Fritschi, et al. (2006)
© K. Kuchenbecker 2008 + W. Provancher 2009
Sli Di lSlip DisplaysHole in outer handle to contact inner rotating mandrel
Salada et al (2002 5)Salada, et al. (2002-5)
Northwestern Haptic Knob.Salada, Lipsey, Colgate (early 2000’s)
http://lims.mech.northwestern.edu/projects/rotaryknob/
33© W. Provancher 2009
Combined tactile and kinesthetic display
V i bl F i ti Sh Di lVariable Friction Shear Display
Glassmire thesis (2006)
TPaD: Tactile Pattern Display.
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Winfield & Colgate (2007)http://lims.mech.northwestern.edu/projects/TPaD/index.htm
© K. Kuchenbecker 2008 + W. Provancher 2009Biet et. al (2008)
Sh M ti Di lShear Motion Display Fingertip Shear Feedback & Skin Stretch for Fingertip Shear Feedback & Skin Stretch for
Haptic (Directional) Guidance Currently Currently
miniaturizing
Directional Shear Cues
35© W. Provancher 2009
Gleeson, Horschel, Provancher (2009)
Contact Display Prototypecombined tactile and kinesthetic displayy
2-D Contact Display Concept
ThimbleThimblePushPush--Pull WiresPull Wires
1-D Contact Display Concept
GimbalGimbal
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Provancher et. al (2005)
© W. Provancher 2009
Pneumatic and vibrotactile f db kfeedback
Immersion CyberTouch Glove Sato, et al. (1991)
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Stone (1992)
Burdea (1996)
© K. Kuchenbecker 2008Add Moy & Fearing, and Cahn & Fearing
T til D i Ch llTactile Device Challenges Stimulation density needs to be high Stimulation density needs to be high
Multimodal sensations are hard to overlay
High complexity and weight diminishes portability practicalityportability, practicality
Passive touch does not feel real
Tactile device design is difficult!38
Tactile device design is difficult!© K. Kuchenbecker 2008
H ti h li tiHaptics has many applications Blind Persons Entertainment Blind Persons
Programmable Braille Access to GUIs
Entertainment Arcade (steering wheels) Home (game controllers)
Training Medical Procedures Astronauts
Automotive BMW “iDrive” Haptic Touchscreens
Education Computer-Aided Design
p Mobile Phones
Immersion “Vibetonz”A i ti /M d li Assembly-Disassembly
Human Factors Animation/Modeling Art Material Handling
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Material Handling Virtual Surfaces
© J. Edward Colgate 2006
Training Visual display alone is not sufficient for
certain types of virtual environments. To learn physical skills, such as using complicated hand tools, haptic information is
i ta requirement
40Applications
© J. Edward Colgate 2006
Virtual Prototyping
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Applications McNeeley et al. (Boeing Corp.)© J. Edward Colgate 2006
Rehabilitation
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Applications© J. Edward Colgate 2006
Teleoperation
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Applications© J. Edward Colgate 2006
Telemedicine Future application for tactile
sensing/displayg p y Telemedicine/Telesurgery
44-44-www.intuitivesurgical.com
Computer interface for blind users Text based computers can easily be enhanced to Text-based computers can easily be enhanced to
include a speech synthesizer Graphical user interfaces are inherently visual Graphical user interfaces are inherently visual A haptic display can help a blind computer user
interact with graphics-based operating systems
45© J. Edward Colgate 2006
Entertainment
Microsoft Sidewinder Steering Wheel
46
Applications© Colgate, Kuchenbecker,
Provancher 2006-2009Logitech Wingman
Joystick
Underlying motivations for h tihaptics Looking across applications we find common Looking across applications, we find common
motivations: Haptics is required to solve the problem
I t f f th bli d Interfaces for the blind Phlebotomy training (task is mainly “feel”) Vibetonz – a private communication channel Improve communication (e g provide direction cue) Improve communication (e.g., provide direction cue)
Haptics improves realism and sense of immersion Entertainment Animation/modeling Animation/modeling Diagnosis (e.g., Medical)
Haptics provides constraint Assembly/disassembly
47
Assembly/disassembly Virtual surfaces
© J. Edward Colgate 2006 + W. Provancher 2009
How to design effective haptic i t finterfaces
A simple three step program A simple three-step program…
U d d h h h dA. Understand how the human sensory and perceptual systems work
B Use this information to develop performanceB. Use this information to develop performance metrics
C. Understand how to build/control machines thatC. Understand how to build/control machines that display haptic percepts and meet performance metrics
48© J. Edward Colgate 2006
Some current challenges in h tihaptics
Low power embedded (miniaturize) haptics Low power, embedded (miniaturize) haptics Mobile electronicsE l iti t t l t i ( f Exploiting tactual stereognosis (e.g., for automobile instrument panels)
E k l t l d i h ’t b th Exoskeletal devices haven’t been the answer Haptics over the internet (e.g., for
teles rger )telesurgery) Latencies are a big issueH ti f db k f t
49
Haptic feedback for amputees© J. Edward Colgate 2006
H ti f th tiHaptics for prosthetics
“Sensory reinnervation” provides a possible Sensory reinnervation provides a possible means for restoring the sense of touch to amputeesamputees
Kinesthetic and tactileand tactile sensorsHaptic
display
50© J. Edward Colgate 2006
R di f t tiReading for next time Overview of hapticsp
B. Hannaford and A. Okamura, Haptics, In Handbook of Robotics, Springer Publishing, 2008.
Overview of reception and perception (neurophysiology and psychophysics) Read P. 149-161 of
Karon E. MacLean, Haptic Interaction Design for Everyday Interfaces (CHAPTER 5), In Reviews of Human Factors and Ergonomics, V l 4Volume 4
Read Synopsis and Figs. 1 and 2 of Johansson R.S. and Flanagan, J R. (2007) Tactile sensory control of
object manipulation in human In Handbook of the Senses Vol :
51
object manipulation in human. In Handbook of the Senses. Vol.: Somatosensation. Edited by Kaas J. and Gardner E. Elsevier
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