IMA Workshop on Haptics, VR, and HCI Overview
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IMA Workshop on Haptics, VR, and HCI Overview John Hollerbach School of Computing University of Utah
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IMA Workshop on Haptics, VR, and HCI Overview. John Hollerbach School of Computing University of Utah. What Are Haptic Interfaces?. “ Haptic interfaces refers to interfaces involving the human hand and to manual sensing and manipulation.” (Durlach et al., 1994). - PowerPoint PPT Presentation
Transcript of IMA Workshop on Haptics, VR, and HCI Overview
IMA Workshop on Haptics, VR, and HCI
Overview
John Hollerbach
School of ComputingUniversity of Utah
What Are Haptic Interfaces?“Haptic interfaces refers to interfaces involving the human hand and to manual sensing and manipulation.” (Durlach et al., 1994)
• A haptic interface is comprised of– A mechanical position tracker– Actuated joints
• This is just a robot attached to a human
Where forces have been applied:
• Traditional haptics: arms and hands• Foot haptics: Sarcos Biport• Whole-body haptics: Sarcos Treadport
Haptic interfaces are robots that apply forces to the body to display information.
Traditional Haptic Interfaces
Ground based Body based
Foot Haptics (locomotion interface)
Sarcos Biport Iwata’s GaitMaster
Whole-Body Haptics
Sarcos Treadport II
A Thin Line Separates Other Robots that Apply Forces to Humans
• Programmable exercise machines • Rehabilitation robots• Assist devices• Powered exoskeletons
Haptic Interfaces in Teleoperation or Virtual Reality
Teleoperation Avatar
Why Haptics and VR?
• The most general HCI will involve haptics, not just vision and sound.
• There are a lot more computers to be interfaced than telemanipulators.
A Typical VR System
Haptic Interface
User
Visual Interface
Arm Model
World Model
Geometry
Dynamics
Force rendering
Auditory Interface
Technical Issues
DevicesDevices•Specification•Design•Control
SimulationSimulation•High-fidelity for objects•Low-fidelity for haptics
•Transparency•Stability
The Device Angle for VR
• Precise registration to a simulation• Human factors for device use• Cost and proliferation• Novelty factor
The Simulation Angle:Real-Time Requirements
• Visual displays: 30-60Hz• Haptic displays: 1kHz, 1msec lag
– High-frequency contact transients– Control instability
Haptics for VR is not new!
• Teleoperation predictor displays• Impelled by cheap, powerful PCs• Proliferated by haptics companies and
innovations in research labs
But What are the Applications?
• Computer games• Medicine• Mechanical design• ???
Haptics Symposium
• #1-9 held in conjunction with ASME winter annual meeting
• #10 to be held in conjunction with IEEE VR, March 24-25, 2002, in Orlando.
