HapticTechnology

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.

manipulators that push back against a user with the forces that correspond to the environment that the virtual effectors 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.

PHANT0M:
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 appropriate voltages to the motors, it is possible to exert up to 1.5 pounds of force at the tip of the stylus, in any direction.

Haptic Devices:

CYBER GRASP:
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.

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 appliedhardware and software that stimulates humans sense of touch and feel through tactile vibrations or force feedback. These devices mainly consist of robotic

Haptic Rendering:
It is a process of applying forces to the user through a force-feedback device. Using haptic

rendering, we can enable a user to touch, feel and manipulate virtual objects. Enhance a users experience in virtual environment. Haptic rendering is process of displaying synthetically generated 2D/3D haptic stimuli to the user. The haptic interface acts as a two-port system terminated on one side by the human operator and on the other side by the virtual environment.

Contact Detection
A fundamental problem in haptics is to detect contact between the virtual objects and the haptic device (a PHANToM, a glove, etc.). Once this contact is reliably detected, a force corresponding to the interaction physics is generated and rendered using the probe. This process usually runs in a tight servo loop within a haptic rendering system. Another technique for contact detection is to generate the surface contact point (SCP), which is the closest point on the surface to the actual tip of the probe. The force generation can then happen as though the probe were physically at this location rather than within the object. Existing methods in the literature generate the SCP by using the notion of a godobject, which forces the SCP to lie on the surface of the virtual object.

solutions. Most of these solutions use stylusbased haptic rendering, where the user interfaces to the virtual world via a tool or stylus, giving a form of interaction that is computationally realistic on today's hardware. Systems are also being developed to use haptic interfaces for 3D modeling and design that are intended to give artists a virtual experience of real interactive modeling. Researchers from the University of Tokyo have developed 3D holograms that can be "touched" through haptic feedback using "acoustic radiation" to create a pressure sensation on a user's hands. (See Future Section) The researchers, led by Hiroyuki Shinoda, currently have the technology on display at SIGGRAPH 2009 in New Orleans

Virtual surgery: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, weve conceptually divided minimally invasive surgical tools into two generic groups based on their functions. 1. Long, thin, straight probes for palpating or puncturing the tissue and for injection (puncture and injection needles and palpation probes) 2. Articulated tools for pulling, clamping, gripping, and cutting soft tissues (such as biopsy and punch forceps, hook scissors, and grasping forceps). A 3D computer model of an instrument from each group (a probe from the first group and a forceps from the second) and their behavior in a virtual environment is shown. During real-time simulations, the 3D surface models of the probe and forceps is used to provide the user with realistic visual cues. For the purposes of haptic rendering of tooltissue interactions, a raybased rendering, in which the probe and forceps are modeled as connected line segments.

APPLICATIONS TECHNOLOGY:1. 2. 3. 4. 5. 6. 7. Virtual reality Virtual surgery Tele-presence Military application Entertainment Robotics Arts and design

OF

HAPTIC

virtual reality:Haptics are gaining widespread acceptance as a key part of virtual reality systems, adding the sense of touch to previously visual-only

Modeling haptic interactions between a probe and objects using this line-object collision detection and response has several advantages over existing point based techniques, in which only the tip point of a haptic device is considered for touch interactions. Users can touch and feel multiple objects simultaneously. Because laparoscopic instruments are typically long slender structures and interact with multiple objects (organs, blood vessels, surrounding tissue, and so on) during a MIS (Minimally Invasive Surgery), ray-based rendering provides a more natural way than a purely point-based rendering of tool-tissue interactions. To simulate haptic interactions between surgical material held by a laparoscopic tool (for example, a catheter, needle, or suture) and a deformable body (such as an organ or vessel), a combination of pointand ray-based haptic rendering methods are used. In case of a catheter insertion task shown above, the surgical tools using line segments and the catheter using a set of points uniformly distributed along the catheters center line and connected with springs and dampers. Using our point based haptic rendering method; the collisions between the flexible catheter and the inner surface of a flexible vessel are detected to compute interaction forces. The concept of distributed particles can be used in haptic rendering of organorgan interactions (whereas a single point is insufficient for simulating organorgan interactions, a group of points, distributed around the contact region, can be used) and other minimally invasive procedures, such as bronchoscope and colonoscopy, involving the insertion of a flexible material into a tubular body .

Teleoperators are remote controlled robotic tools, and when contact forces are reproduced to the operator, it is called "haptic teleoperation". The first electrically actuated teleoperators were built in the 1950s at the Argonne National Laboratory in the United States, by Raymond Goertz, to remotely handle radioactive substances. Since then, the use of "force feedback" has become more widespread in all kinds of teleoperators such as underwater exploration devices controlled from a remote location. When such devices are simulated using a computer (as they are in operator training devices) it is useful to provide the force feedback that would be felt in actual operations. Since the objects being manipulated do not exist in a physical sense, the forces are generated using haptic (force generating) operator controls. Data representing touch sensations may be

1.Teleoperators simulators:-

and

saved or played back using such haptic technologies.

Computer and video games:Haptic feedback is commonly used is acade games, especially racing video games. In 1976, segas motorbike games moto-cross also known as fonz was the first game to use haptic feedback, which caused the handlebars to vibrate during a collision with another vehicle.Tatsumis TX-1 later introduced force feedback to car driving games in 1983. Some simple haptic devices are common in the form of game controllers, in particular of joysticks and steering wheels. Early implementations were provided through optional The Shadow Dextrous Robot Hand uses the sense of touch, pressure, and position to reproduce the human grip in all its strength,

components, such as theNintendo 64 controller's Rumble Pak. Many newer generation console controllers and some joysticks feature built in feedback devices, including Sony's DualShoc k technology and the handheld remote controller for the Nintendo Wii. An example of this feature is the simulated automobile steering wheels that are programmed to provide a "feel" of the road. As the user makes a turn or accelerates, the steering wheel responds by resisting turns or slipping out of control. In 2007, Novint released the Falcon, the first consumer 3D touch device with high resolution three-dimensional force feedback, allowing the haptic simulation of objects, textures, recoil, momentum, physical presence of objects in games.

Robotics:delicacy, and complexity. The SDRH was first developed by Richard Greenhill and his team of engineers in Islington, London, as

part of The Shadow Project, (now known as the Shadow Robot Company) an ongoing research and development program whose goal is to complete the first convincing humanoid. An early prototype can be seen in NASA's collection of humanoid robots, or [19] robonauts. The Dextrous Hand has haptic sensors embedded in every joint and finger pad, which relay information to a central computer for processing and analysis. Carnegie Mellon University in Pennsylvania and Bielefeld University in Germany in particular have found The Dextrous Hand is an invaluable tool in progressing our understanding of haptic awareness and are currently involved (2006) in research with wide ranging implications. The first

PHANTOM, which allows one in the human world to interact with objects in virtual reality through touch, was developed by Thomas Massie, while a student of Ken Salisbury at

Arts and design:Touching is not limited to a feeling, but it allows interactivity in real-time with virtual objects. Thus, haptics are commonly used in virtual arts, such as sound synthesis or graphic design/animation. The haptic device allows the artist to have direct contact with a virtual instrument that produces real-time sound or images. For instance, the simulation of a violin string produces real-time vibrations of this string under the pressure and expressiveness of the bow (haptic device) held by the artist. This can be done

with physical modelling . Designers and modellers may use high-degree of freedom input devices that give touch feedback relating to the "surface" they are sculpting or creating, allowing faster and more natural workflow than with traditional methods. Artists working with haptic technology such as vibrotactile effectors (outpu) are Christa Sommerer & Laurent Mignonneau and Stahl Stenslie.

synthesis Future applications of haptic technology cover a wide spectrum of human interaction with technology. Some current research focuses on the mastery of tactile interaction with holograms and distant objects, which, if successful may result in applications and advancements in gaming, movies, manufacturing, medical, and other industries. The medical industry will also gain from virtual and telepresence surgeries, providing new options for medical care. Some speculate the clothing retail industry could gain from haptic technology in ways such as being able to "feel" the texture of clothes for sale on the [22] internet. Future advancements in haptic technology may even create new industries that were not feasible or realistic before the

LIMITATIONS:These devices can only exert forces with limited magnitude and not equally in all directions An ideal device would render zero impedence when simulating in a free space Haptic rendering algorithms operate in descrete times whereas users operate in continous line This device sensors have finite resolution Future applications:-

advancements happening right now.

Holographic interaction:Researchers the University at of Tokyo are currently working on adding haptic feedback to holographic projectio ns. The feedback allows the user to interact with a hologram and receive tactile response as if the holographic object were real. The research uses ultrasound waves to create a phenomenon called acoustic radiation pressure, which provides tactile feedback as users interact with the holographic object The haptic technology does not affect the hologram, or the interaction with it, only the tactile response that the user perceives. The researchers posted a video displaying what they call the "Airborne Ultrasound Tactile Display." The

technology is not yet ready for mass production or mainstream application in industries, but it is quickly progressing, and "industrial companies" are already showing a positive response to the is technology.[23] It important to note that this example of possible future application is the first in which the user does not have to be outfitted with a special glove or use a special control, they can "just walk up and use [it] " which paints a promising picture for future applications.

Future medical applications:One currently developing medical innovation is a central workstation surgeons would use to perform operations remotely local nursing staff would set up the machine and prepare the patient. Rather than travel to an operating

room, the surgeon becomes a telepresence. This allows expert surgeons to operate from across the country, increasing availability of expert medical care. Haptic technology will provide tactile and resistance feedback to the surgeon as he operates the robotic device. The goal is that, as the surgeon, for instance, makes an incision, he feels ligaments as he would if working directly on the patient. Surgical training is also on the brink of benefiting from haptic technology. Researchers at Stanford are currently developing technology to simulate surgery for training purposes. Simulated operations would let surgeons and surgical students practice and train more. Haptic technology will aid in the simulation by creating a realistic environment of touch.

Much like the telepresence surgery , surgeons will feel simulated ligaments, or the pressure of a virtual incision as if it were real. The researchers led by J. Kenneth Salisbury Jr., a research professor of both computer science and surgery, are also hoping to eventually be able to create realistic internal organs for the simulated surgeries, but, as Salisbury has said, that is not an easy feat The idea behind the research is that "just as commercial pilots train in flight simulators before they're unleashed on real passengers, surgeons will be able to practice their first incisions without actually cutting anyone."

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. Finally we shouldnt forget that touch and physical interaction are among the fundemental ways in which we understand our world and effect to changes in it Large potential for applications in critical fields as well as for leisurely pleasures. Haptic devices must be miniaturized so that they are lighter, simpler and easier to use.

Freimuth, G.J. Monkman, S. Egersdrfer, H. Bse & M. Baumann. Modelling the Response of a Tactile Array using an Electrorheological Fluids. Journal of Physics D: Applied Physics, vol 37, no. 5, pp794803, 2004.


REFERENCE:

Monkman. G.J. An Electrorheological Tactile Display. Presence ( Journal of Teleoperators and Virtual Environments) Vol. 1, issue 2, pp. 219 228, MIT Press, July 1992.

Klein. D, H. Freimuth, G.J. Monkman, S. Egersdrfer, A. Meier, H. Bse M. Baumann, H. Ermert & O.T. Bruhns. Electrorheological Tactile Elements. Mechatro nics Vol 15, No 7, pp883897. Pergamon, September 2005. Robles-De-La-Torre G. Principles of Haptic Perception in Virtual Environments. In Grunwald M

Klein. D, Rensink,

D. H.

(Ed.), Human Haptic Perception, Birkhuser Verlag, 2008.

What is Force Feedback? (on telerobotic manipulators) Kraft TeleRobotics Video of Novint Falcon demo at CES 2007. H3DAPI - Open source haptics API; developed by SenseGraphics BioRobotics Laboratory, Research on Haptics and Teleoperation An animation explaining how haptic forcefeedback technology works IEEE Technical Committee on Haptics Special Interest Group on Haptics (Haptics SIG)