HAPTIC TECHNOLOGY

Touch The Virtual

HAPTIC

CONTENTS

HISTORY WORKING EXAMPLE ADVANTAGES/DISADVANTAGES

CONCLUSION

H I S T O R Y

Haptic is derived from a Greek word haptesthai In 1950s Goertz proposed a Master-Slave system.

W O R K I N G

Architecture of Haptic Feedback

W O R K I N G
Architecture of Haptic Rendering

W O R K I N G

Haptic device creates a closed loop between user and haptic rendering/simulation algorithm. X(t) and F(t) are continuous time position and force signal exchanged between haptic device and user. X(k) and F(k) are the discrete time position and force signal exchanged between haptic device and virtual environment.

W O R K I N G

Collision Detection

W O R K I N G

Collision Detection
for (j = 0; j < number of objects in the scene; j++) { if(x < X_max_j && x> X_min_j && y < y_max_j && y > Y_j_min) { Collision = TRUE; Collided Object = j; } else Collision = FALSE; }

Axis Aligned Bounding Box method in 2D

W O R K I N G
Oriented Bounding Box in 2D

W O R K I N G
Binary Space Partitioning

EXAMPLE HAPTIC DEVICES

Exoskeleton

Treadport
Hand master Phantom device

E X A M P L E

1. EXOSKELETON

E X A M P L E

2. Treadport

E X A M P L E

3. HAND MASTER

E X A M P L E

4. PHANTOM DEVICE

APPLICATION
Surgery
Tele Presence Aero plane Training Gaming

A P P L I C A T I O n

SURGERY

A P P L I C A T I O n

TELE PRESENCE

A P P L I C A T I O n

AEROPLANE TRAINING

A P P L I C A T I O n

GAMING

ADVANTAGES
Communication is centered through touch and the digital world can behave like the real world. Working time is reduced since objects can be captured, manipulated, modified and rescaled digitally.

Medical field simulators allow would be surgeons to practice digitally, gaining confidence in the procedure before working on breathing patients.

DISADVANTAGES
Cost

Portability
Complexity