1.

Introduction to Haptics

Seungmoon Choi, Ph.D.

Assistant Professor
Dept. of Computer Science and Engineering
POSTECH

Outline

ƒ Course Overview

ƒ Introduction to Haptics

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 Course Objectives
ƒ Provide basic concepts and comprehensive knowledge in
computer haptics

ƒ Be familiarized with advanced research topics in

computer haptics

ƒ Improve your research paper reading capability

ƒ Enhance your technical presentation skills

ƒ Obtain hands-on experiences on computer haptics

Spring, 2006 EECE 700. Advanced Computer Haptics 3

Administrative Details (1)

ƒ Instructor
– Prof. Seungmoon Choi
– Office: PIRL 315-1
– Phone: 279-2384
– E-mail: choism@postech.ac.kr

ƒ Class time and place

– M, W, 11 AM – 12:15 PM
– Muneunjae Memorial Building, Room 304
– Office hours: By appointment

ƒ Text: Selected book chapters and research papers

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 Administrative Details (2)

ƒ Grading
– Paper presentation: 30%
– Projects: 50%
– Final exam: 20%

ƒ The course will proceed with English.

ƒ Course web site

– http://www.postech.ac.kr/~choism/courses/advanced
computer haptics

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Student Paper Presentation

ƒ The course will mainly proceed with student paper
presentations.
ƒ Procedures:
– Each student will pick a few articles to present and should send
a slide file to the instructor at least TWO DAYS before the
expected presentation date.
– The instructor will provide feedbacks on the slides.
– The student will revise the slides and send the slides back to the
instructor.
– The slide file will be uploaded on the course web-site at least
one day before the presentation date.
– The slides are needs to be targeted for 50-minutes. The rest of
classes will be devoted to Q&As and supplementary explanations
by the instructor.
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 Projects

ƒ Available Haptic Interfaces

– PHANToM 1.0A (Sensable Technology)
– PHANToM Omni (Sensable Technology)
– Omega (ForceDimension)
– Two 4D4Ms (VnVNet)

ƒ Mostly, two students will share one haptic

interface for projects and thus need to arrange
time slots for using it.

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Outline

ƒ Course Overview

ƒ Introduction to Haptics

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 What is “Haptics”?

ƒ Haptic: Related to “Touch”

– Originated from the Greek “haptesthai”
– Refers to both “Tactile” and “Kinesthetic” senses

ƒ Haptics: An emerging interdisciplinary field for

– Understanding the human haptic sensory and motor
characteristics, and
– Developing a computer-controlled system that allows
us to physically interact with a virtual or remote
environment through touch
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Haptics Research
- Interdisciplinary
Perception, Cognition, and
Neurophysiology

Human
Haptics

Machine Computer
Haptics Haptics
Device design, Sensors, and Modeling, Rendering, and Stability
Communication
(From MIT Touch Lab)
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 Haptic Interaction

ƒ Haptic interaction is symmetric and bidirectional

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Haptic Interface - PHANToM

ƒ Sensable Technology, Inc.

ƒ Pen-based interaction
ƒ 3 DoF (Degrees of
Freedom)
ƒ Serial linkage
ƒ Force-feedback
ƒ Was the breakthrough to
the growth of haptics

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 Brief History of Haptics

ƒ Early 20th century

– The term “Haptic (= Tactile + Kinesthetic)” began to
be used in Psychology
ƒ 1950s – 1990s
– Force-feedback for Teleoperation in Robotics
ƒ 1990s – 1995s
– Break-through in Haptics: PHANToM
ƒ 1995s - Present
– World-wide active research efforts, all in perception,
devices, and rendering algorithms.
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Benefits of Haptics

ƒ Virtual Reality
– Increased realism
– Another input/output modality
ƒ Teleoperation
– Hazardous environment
– Non-accessible environment
ƒ Information Display
– Increased information transfer bandwidth
– Effective in sensory-saturated environment

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 Haptic Information

ƒ Tactile (Cutaneous) Information

– Spatial Tactile Information
– Temporal Tactile Information
ƒ Kinesthetic (Proprioceptive) Information
ƒ Haptic Information
= Tactile + Kinesthetic Information
ƒ Example
– PHANToM can provide temporal tactile and kinesthetic
information, but not spatial tactile information.

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Common Procedures of Haptics

Research
ƒ Determine specifications for a haptics application based
on the human capability of perception and action

ƒ Design and construct an appropriate haptic interface

ƒ Develop adequate software library including haptic

rendering algorithms

ƒ Assess the developed system based on human Computer

perception Haptics

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