Haptic Feedback Systems in

Education
Dorin M. Popovici
Felix G. Hamza-Lup
Crenguta M. Bogdan

eLSE 2013, April 25-26, 2013 Bucharest, Romania

Outline

Haptic Technology
Haptic APIs and Frameworks
Comparison Criteria
Visuo-Haptic Systems
Educational Visuo-Haptic Systems
VirDenT System
HapticMed System
Bibliography
Acknowledgements
eLSE 2013, April 25-26, 2012 Bucharest, Romania

Haptic technology (1)

Derived from the Greek
(haptikos), means pertaining to the
sense of touch
5 senses: sight, smell, taste, touch,
and hearing
eLSE 2013, April 25-26, 2013 Bucharest, Romania

Haptic technology (2)

Falcon Novint
http://home.novint.com/
3 DOF
> 400 dpi
Phantom Omni
6 DOF
450 dpi ~ 0.055 mm.
Phantom Desktop
Resolution: 1100 dpi ~ 0.023 mm.
SensAble http://www.sensable.com/
eLSE 2013, April 25-26, 2013 Bucharest, Romania

Haptic APIs and Frameworks

ReachIn
SOFA - Simulation Open-Framework Architecture
CHAI3D - Computer Haptics and Active Interfaces
H3D
GiPSi - General Physical Simulation Interface
OpenHaptics
SPORE
SSTML
Spring
eLSE 2013, April 25-26, 2013 Bucharest, Romania

Comparison Criteria

License type
Required resources
Multimodal resources
Compatibility with haptic devices
3D navigation metaphors and
devices
Implementation language
Extensibility and adaptability
Real/virtual time execution
Dynamic configuration of the scene
Documentation
Availability of the API
eLSE 2013, April 25-26, 2013 Bucharest, Romania

Four-scale
graded value
0
1
3
9

Rea
chIn

SOF
A

CH
AI3
D

H3D

GiP
Si

Ope
n
Hap
tics

Open-source
Semi-open
source
Closedsource

Semi-open
source

Open-source

Closed
source

Paid license
Free license

Licence Type

View source-code
Changing existing code
Software distribution modified/ unmodified
Class extend
Community support
View source-code
Changing existing code
Software distribution modified/ unmodified
Class extend
Community support
View source-code
Changing existing code
Software distribution modified / unmodified
Class extend
View source-code
Changing existing code
Software distribution modified / unmodified
Class extend
Community support
View source-code
Changing existing code
Software distribution modified / unmodified
Class extend
Community support
View source-code
Changing existing code
Software
distribution modified / unmodified
eLSE 2013, April 25-26, 2013 Bucharest, Romania
Class extend

0
0
0
0
0
0
0
0
0
0
1
1
0
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
9
9
9
9
1
0
0
0
0
0
0
0
0
0

9
9
9
9
1
0
0
0
0
0
0
0
0
0
9
9
9
9
1
0
0
0
0
0
0
0
0
0

9
9
9
9
9
0
0
0
0
0
0
0
0
0
9
9
9
9
9
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
9
9
9
9
1
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
1
9
9

Reach
In

SOFA

CHAI
3D

H3D

GiPSi
Open
Haptic
s

Minimum
hardware Operatin
requirement g system
s

Windows
Linux
Mac
HDD memory
RAM memory
Graphic card
Processor

9
0
0
9
9
9
3

9
9
9
9
1
1
1

9
9
9
9
9
3
3

9
9
9
9
9
9
9

9
9
0
0
0
0
0

9
9
9
9
3
9
9

Minimum
software
requirements

Resources needed

Programming
environment and compiler

Graphic rendering
SDK Haptic (Sensable)
External libraries

3
9
0

9
9
0

3
9
0

3
9
0

3
9
9

9
9
0

eLSE 2013, April 25-26, 2013 Bucharest, Romania

Multimodal resources
ReachIn- VRML files
SOFA files with extensions: .wrl. .obj, .bmp, .jpb,
.png, .tiff
CHAI3D - .bmp, .tga, .3ds, .obj
OpenHaptics - .obj, .3ds, .stl and .ply files
GiPSi - obj file format and the .tga format. Moreover,
the current version of GiPSi doesnt include support for
audio resources.
H3D - VRML and X3D standard files.

eLSE 2013, April 25-26, 2013 Bucharest, Romania

eLSE 2013, April 25-26, 2013 Bucharest, Romania

Exerted
force (N)

6
6
6
3
3
6
6
3
6
6
6
3
4

3
3
3
3
3
3
3
3
6
6
6
3
1

3.3
7.9
22
8.9
12
12
12
20
20
35
2.5
250
20

Workspac
e (mm)
(LxIxA)

Output
DOF

Phantom Omni
~450 dpi
Phantom Desktop
~1100 dpi
Phantom Premium 6DOF
>1000 dpi
Falcon
>400 dpi
Omega3
>1000 dpi
Omega6
>1000 dpi
Omega7
>1000 dpi
Delta3
>1500 dpi
Delta6
>1500 dpi
Virtuose 6D35-45
~ 3100 dpi
Freedom6S
~ 1500 dpi
HapticMaster
~ 3000 dpi
Xitact Instrument Haptic Port
?

Input
DOF

Haptic
resolution

Compatibility with haptic devices

160x120x70
160x120x120
381x267x191
101x101x101
160x160x110
160x160x110
160x160x110
400x400x260
400x400x260
644x500x350
170x220x330
614x400x360
0x0x200

3D navigation metaphors and devices

Methods for user navigation through the virtual environment: preprogrammed and free navigation.
Metaphors: "view-point-in-hand" or "world-in-hand"
Interaction devices:
keyboard, mouse, joystick, spaceMouse, graphic tablet
haptic devices
ReachIn and H3D support spaceMouse
CHAI3D, SOFA and GiPSi - mouse

Implementation Language
C++ programming language
ReachIn and H3D allow Python scripts together with VRML
SOFA, CHAI3D and GiPSi use XML to describe the virtual scene
as a graph structure
eLSE 2013, April 25-26, 2013 Bucharest, Romania

Extensibility and Adaptibility

ReachIn

SOFA

CHAI3D

H3D

GiPSi

Open
Haptics

Development
flexibility

Extensibility of an API or framework: capability to be continuously

augmented with new functionalities.
Adaptability is defined as the software capability to adapt at
different media without the need of supplementary actions
(ISO/IEC 9126-1).

Extensibility

Adaptability

eLSE 2013, April 25-26, 2013 Bucharest, Romania

Real/Virtual time Execution

ReachIn, CHAI3D, H3D, GiPSi and the OpenHaptics
platforms have been designed for the development of
multisensory applications that are focused on real-time
execution.
SOFA was designed for rapid development of multisensory
interactive applications.

Dynamic Configuration of the Scene

ReachIn, CHAI3D, H3D and GiPSi do not offer this kind of
support
SOFA is able to manage run-time changes in the scene graph
structure
eLSE 2013, April 25-26, 2013 Bucharest, Romania

Documentation

ReachIn offers less support

SOFA provides online documentation
The CHAI3D documentation is generated using Doxygen
H3D offers very good documentation
GiPSi is described online
OpenHaptics offers a programmers guide and techincal
support

Availability
The company that developed the ReachIn platform stopped
commercializing the API.
eLSE 2013, April 25-26, 2013 Bucharest, Romania

3D Virtual objects

2D Virtual objects

Audio

Haptic devices

Navigation devices

Languages

Dynamic configuration of the scene

Documentation

Availability

228 39 9

Semi-open source license paid

112 33 0

2.667

1.333

56 33 0

Closed source license paid

Adaptability and extensibility

Minimal requirements

Relative Weight

4.000
License

Max Relationship Value

Real/virtual time execution

Operating system

Open source licence paid

Quality Properties
(a.k.a. "Functional
Requirem ents" or
"How s")

License

Dem anded
Quality (a.k.a.
"Customer
Requirements"
or "Whats")

Absolute importance

Final Score

ReachIn

SOFA

CHAI3D

0.00

0.00

7.40

9.00

0.00

0.00

0.00

0.00

0.00

0.00

0.00

0.00

1.25

0.00

0.00

0.00

0.0

0.00

0.00

7.40

7.40

9.00

0.00

0.00

0.00
0.00

0.00
0.00

0.00
0.00

0.00
0.00

7.40
0.00

0.00
5.50

Analysis
(0=non-existent, 1=w eak, 3=average, 9=good)

H3D GiPSi

Open
Haptics

6.667

Open source free licence

9
9

5.333
4.000

Semi-open source free license

Closed source free license

224 39 0
96 21 0

4.000

Operation system

28 0

3.00

9.00

9.00

9.00

6.00

9.00

Minimal hardw are requirements

24 0

0 18 0

7.50

3.00

6.00

9.00

0.00

7.50

Minimal softw are requirements

12 0

3.00

4.50

3.00

3.00

5.25

4.50

3D virtual objects

300 0

9 36

2.25

4.50

4.50

4.50

4.50

4.50

2D virtual objects

216 0

45 0

9.00

9.00

3.60

0.00

1.80

7.20

84 0

0 18 0

4.50

0.00

4.50

0.00

0.00

0.00

Haptic devices

480 3 12 6

0 51

7.62

2.00

2.92

6.92

2.07

2.07

Eye-in-hand navigation

112 0

21 0

9.00

6.00

6.00

9.00

6.00

6.00

World-in-hand navigation

112 0

21 0

9.00

6.00

6.00

9.00

6.00

6.00

Programming languages

36 0

9.00

9.00

9.00

9.00

9.00

9.00

Scripting languages

36 0

9.00

0.00

0.00

9.00

0.00

0.00

Modeling languages

1.333

1.333

6.667

4.000

4.000

6.667

5.333

5.333

4.000

4.000

4.000

6.667

Languages 3D navigationMultimodal resources

320 39 0

Audio objects

108 0

0 27 0

3.00

3.00

3.00

3.00

3.00

0.00

Interaction w ith scene graph

80 0

0 12 0

0.00

9.00

0.00

0.00

0.00

0.00

0 21 0

9.00

3.00

3.00

9.00

1.00

9.00

0.00

9.00

9.00

9.00

9.00

9.00

0 12 0

4.50

9.00

4.50

4.50

4.50

4.50

6.00

5.00

6.00

6.00

3.00

3.937

4.050

5.166 2.771

2.865

4.000

Documentation

84 0

4.000

Availability

72 0

0 18 0

48 0

4.000

Simulation

6.667

Development flexibility

0 0September
0 0 0 25-27,
0 0 02012
0 0
0 0 0 18 Germany
120
6.00
CyberWorlds
2012,
Darmstadt,

Final Score

3.917

Visuo-Haptic Systems
Multimodal System (MS) = software system software enhanced with
multimodal capabilities of human/machine interaction and capable to
interpret information obtained through different sensorial and
communication ways. Human/machine interaction ways: speech, pen,
hand moves, touch, etc.
Visuo-Haptic System = MS that provides capabilities of:
- (immersive) visualization of the objects of a virtual environment ;
- generating and rendering of touching and feeling of virtual objects, by
the answer of the system to the actions produced by user. Forms of
answer: force, topological changes, etc.
Medical domains:
Medical procedures:
- Cardiology
-Lumbar punctures
- Cancer treatment
-Rhinoscopy and bronchoscopy
- Orthopedics
-bone surgery
- Dentistry
eLSE 2013, April 25-26, 2013 Bucharest, Romania
- Surgery

Other domains:
- Chemistry
- Physics
- Art

Educational Visuo-Haptic Systems

Harvey and Gingold (2000) developed a visio-haptic simulation for 3D
representation of atomic orbitals that are traditionally difficult for
chemistry students to conceptualize.
Butnaru et al (2011) constructed a prototype system for teaching
mechanisms in mechanical engineering courses, by using haptic
devices.
Rhienmora et al (2010) developed an augmented reality dental
training simulator using a haptic device. A number of dental
procedures such as crown preparation and opening access to the
pulp can be simulated with various shapes of dental drill.
VirTeaSy is a haptic simulator to teach implantology, in two phases:
decision making and surgery performing. The simulator was
developed by CERV: Centre Europen de Ralit Virtuelle (Cormier
et al, 2011). eLSE 2013, April 25-26, 2013 Bucharest, Romania

VirDenT System

It is an e-learning system that is used as a

software tool by the students of dental medicine
faculty, for developing the skills in grinding teeth
during the dental laboratories of fixed prosthetic
department.
These are required in making one of the crown
types: all ceramic.

eLSE 2013, April 25-26, 2013 Bucharest, Romania

HapticMed System
- A 3D visual and haptic simulator for liver
diagnostic through palpation
- The training scenario starts with a basic
haptic task to get the student accustomed with the
haptic interface.
Next, the following scenarios are presented to the
student in a random order:
healthy liver, liver with cirrhosis, liver with tumors
malign and/or cysts, hepatic liver and enlarged liver. At the end of each
scenario a timed questionnaire is used to assess the students capability to
correctly identify the various healthy/diseased liver scenarios. In each scenario
the student has access to a set of tools that s/he can use for palpation (e.g.
Babcock grasper, Maryland grasping forceps).

eLSE 2013, April 25-26, 2013 Bucharest, Romania

Bibliography

Harvey, E. and Gingold, C. Haptic representation of the atom. IEEE International

Conference on Information Visualisation 2000. Proceedings, pp. 232-235
Butnaru, T., Girbacia, F., Butnaru, S., Beraru, A., Talaba, D. - An approach for teaching
mechanisms using haptic systems, The 6th International Conference on Virtual Learning
ICVL 2011, pp. 30-36
Rhienmora, P., et al - Haptic augmented reality dental trainer with automatic performance
assessment, Proceedings of the 15th international conference on Intelligent user
interfaces, Hong Kong 2010, pp. 425-426
Cormier, J., Pasco, D., Syllebranque, C., Querrec, R. - VirTeaSy a haptic simulator for
dental education. The 6th International Conference on Virtual Learning ICVL 2011, pp. 6168
Corneliu, A., Duta, M., Popovici M. D., Bogdan C. M., Grigorian, M. - Teeth reduction
dental preparation using virtual and augmented reality by Constanta dental medicine
students through the VirDenT system, The International Conference Development,
Energy, Environment, Economics, Puerto De La Cruz,Tenerife, Spain, December 10-12,
2011
Hamza-Lup, F.G., Seitan, A., Popovici, D.M., Bogdan, C.M. - Liver Pathology Simulation:
Algorithm for Haptic Rendering and Force Maps for Palpation Assessment, Medicine
Meets Virtual Reality conference, MMVR 2013, San Diego, California, pp. 175-181.
eLSE 2013, April 25-26, 2013 Bucharest, Romania

Acknowledgements
HapticMed: Interfaces with haptic feedback in medical applications

http://hapticmed.info
This study was supported under the ANCS Grant HapticMed
Using haptic interfaces in medical applications, no. 128/02.06.2010,
ID/SMIS 567/12271 number. We would also like to thank students
C. Petre, A. Dinca, A. C. Corleanca and M. Polceanu for their
contributions.

eLSE 2013, April 25-26, 2013 Bucharest, Romania