Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of...
-
date post
20-Dec-2015 -
Category
Documents
-
view
215 -
download
1
Transcript of Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of...
![Page 1: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/1.jpg)
Haptic Perception and Devices
David Johnson
![Page 2: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/2.jpg)
What is Haptics?• adj. Of or relating to the sense of touch; tactile.
[Greek haptikos, from haptesthai, to grasp, touch.]– Haptics involves both proprioceptive and tactile senses,
in concert with other senses.
• adj. The science of applying touch (tactile) sensation and control to interaction with computer applications.
•
![Page 3: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/3.jpg)
The Sense of Touch• Everyday Tasks
– Dialing a phone
– Playing a guitar or piano
– Finding a light switch
– Using a mouse
• Touch is complex: tying a shoelace
• Only bi-directional communication channel – both input & output
![Page 4: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/4.jpg)
Why is Touch Important?
• Touch-tone phone– Rich tactile cues– Can be done without
looking– Effortless
• PC calculator– No tactile cues– Only visual feedback– Painstaking
![Page 5: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/5.jpg)
Tactile Perception
• Provides information about our environment– e.g. hot, cold, smooth, rough
• Provides feedback– e.g. when trying to lift an object, press
buttons, etc.
• Difficulties if no feedback?
![Page 6: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/6.jpg)
Haptics
![Page 7: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/7.jpg)
Surface of average sized adult human: 1.8 m2
(1000 times that of retina)
Weight: 5 kg
Total number of axons: 1.1*106
Retina: 106 axons,
Cochlea: 6*104 axons
Human skin
![Page 8: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/8.jpg)
Haptics and Vision
Information Temporal
capacity (bits/sec) acuity
Fingertip 102 5 ms
Ear 104 0.01 ms
Eye 106-109 25 ms
![Page 9: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/9.jpg)
Peripheral Pathways of Touch
• Mechanoreceptors - pressure, texture, vibration
• Proprioceptors - body position
• Nocioceptors– Two pathways for pain
• one fast pathway for sharp pain, • one slow pathway for dull pain
• Thermoreceptors
![Page 10: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/10.jpg)
Four Receptor Types
a) Merkel Disks -- constant sources of stimulation over a small area, such as if you were carrying a pebble
b) Meissner Corpuscles -- respond best to active touch involved in object exploration
c) Ruffini Endings -- constant stimulation over a larger area - also detects skin stretch
d) Pacinian Corpuscles -- extremely sensitive over a large receptive field -- blow gently on the palm of your hand
![Page 11: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/11.jpg)
Functional characteristics of Skin Mechanoreceptors:Receptive field size (I = small, II = large)
and adaptation rate (FA = fast adapting, SA = slow adapting)
Kandel et. al., 2000
Meissner’s Merkel Pacinian RuffiniCorpuscle Cell Complex Corpuscle Ending
Receptors
Receptive
Field
Intensity and Time Course of Neural Signal (adaptation)
NeuralSpike train
Stimulus
FA I SA I FA II SA II
![Page 12: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/12.jpg)
Receptive Field
The two-point threshold for any part of the body is determined by the size of the receptive fields and the extent of overlap
![Page 13: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/13.jpg)
Proprioception• All muscles have
nerve fibers which detect the amount the muscle is stretched
• All joints have fibers which detect the relative position of each bone
• Together these allow you to determine the position of every part of your body.
[Green]
![Page 14: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/14.jpg)
Proprioception Includes The Vestibular SenseOcular Motor
[Green]
![Page 15: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/15.jpg)
Haptics
![Page 16: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/16.jpg)
Haptic Interfaces• Fully duplex channel. You can both transmit and
receive information simultaneously.
• Requires very high refresh rates of approx.1000 Hz for realistic feel.
• Requires very high spatial resolution.– On smooth glass surface, dot of height 1-3 µm and
diameter of 550 µm can be detected by the fingertip (Johansson & LaMotte, 1983)
![Page 17: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/17.jpg)
Tactile Technologies• Tactile information is produced by perturbing the
skin– Pins or other mechanical vibrating elements - either
alone or in an array, as in devices for Braille display• typically used for fingertip stimulation
– Air jets blow to produce a disturbance– Cushions of air can be inflated or deflated to vary
pressure on skin– Electrical stimulation - low levels of current provide a
localized tingling sensation
• Typically used in gloves, or for larger body areas
![Page 18: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/18.jpg)
Laterotactile
• Induce sensations of indent from lateral movement of skin
![Page 20: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/20.jpg)
Electrotactile
![Page 21: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/21.jpg)
Servomotor mechanical
![Page 22: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/22.jpg)
Tactile Vest
![Page 23: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/23.jpg)
Force-Feedback Technologies
• Kinesthetic (relating to the feeling of motion) info is produced by exerting mechanical forces– Haptic devices movie
![Page 24: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/24.jpg)
MPB Freedom7 and Cubic
![Page 26: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/26.jpg)
6DOF Delta
![Page 27: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/27.jpg)
Magnetic Levitation
• CMU• Very high fidelity• Small workspace• movie
![Page 28: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/28.jpg)
Exoskeleton
• 5DOF
![Page 29: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/29.jpg)
Rutgers Hand Master
• Pneumatic
![Page 30: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/30.jpg)
Foot Haptics (locomotion interface)
Sarcos Biport Iwata’s GaitMaster
Omni-directional treadmill
Foot-based interfaces
![Page 31: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/31.jpg)
Whole-Body Haptics
Sarcos Treadport II
![Page 32: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/32.jpg)
CirculaFloor
• Moving floor tiles• An example of
“encountered haptics”
![Page 33: Haptic Perception and Devices David Johnson. What is Haptics? adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to.](https://reader034.fdocuments.in/reader034/viewer/2022042821/56649d415503460f94a1c768/html5/thumbnails/33.jpg)
Discussion
• Mechanical aspects are more daunting than for other VR technologies
• Must handle gross positioning (proprioception) and fine detail (tactile)
• Burgeoning area– 10 years ago, 20 papers a year– Now, 1000’s.