A SYNOPSIS

ON

HAPTICS TECHNOLOGY

BY

HARSH SETH (B-632)SNEHAL SHAH (B-636)

BADRU SIDDIQUE (B-646)

Under the guidance of Internal Guide

Prof. Ekta Upadhyay

Department of Computer EngineeringRajiv Gandhi Institute of Technology

Juhu-Versova Link Road Versova, Andheri (w), Mumbai-53

University of Mumbai

April - 2011

1

Department of Computer EngineeringRajiv Gandhi Institute of Technology

Juhu-Versova Link Road, Versova, Andheri(West) Mumbai -53

CERTIFICATE

This is to certify that

1. Harsh Seth (B-632)2. Snehal Shah (B-636)3. Badru Siddique (B-646)

Have satisfactory completed the seminar entitled

(HAPTIC TECHNOLOGY)

Towards the partial fulfillment of the

BACHELOR OF ENGINEERING

IN

(COMPUTER ENGINEERING)

as laid by University of Mumbai.

Guide H.O.D.(Prof. Ekta Upadhyaya) (Prof. S. B. Wankhade)

Principal(Dr.Udhav Bhosle)

Internal Examiner External Examiner

2

ACKNOWLEDGEMENT

We would like to humbly acknowledge everyone who have helped us in

presenting a seminar on ‘HAPTIC TECHNOLOGY’ and guided us through the

depth of the technology, its working and development.

We are grateful to our Principal,Dr.Udhav Bhosale and our Head Of

Department ,Prof.Wankhede who gave us the opportunity to undertake the study

of the technology.

We are also very thankful to our guide Prof. Ekta Upadhyay for her valuable help,

guidance and encouragement in successful completion of the seminar.

We would also like to thank our colleagues, who often helped and gave us moral

support .

3

INDEX

SR.NO TITLE PAGENO.

1 ABSTRACT 6

2 INTRODUCTION 7

3 REVIVEW OF LITERATURE 8

3.1 INTRODUCTION TO HAPTIC 8

3.2 EVOLUTIONARY STAGES OF INTERACTION 8

3.3 HISTORY OF HAPTICS 9

3.4 BASIC WORKING THEORY OF HAPTICS 10

3.5 HAPTIC INFORMATION 10

3.6 CLASSIFICATION OF HAPTIC DEVICES 11

3.7 COMMONLY USED HAPTIC DEVICES 11

3.8 APPLICATION 12

3.9 FUTURE SCOPE OF HAPTIC 12

4 EXISTING SYSTEM 13

4.1 TYPES OF HAPTIC DEVICES 13

4.2 PHANTOM DEVICE

4.3 APPLICATIONS OF HAPTICS 21

5 EXISTING SYSTEM ARHITECTURE 32

5.1 BASIC WORKING OF HAPTICS 32

5.2 HAPTIC INFORMATION 34

5.3 CREATION OF VIRTUAL ENVIRONMENT

5.4 HAPTIC FEEDBACK

5.5 THE

ORY BEHIND FORMATION OF HAPTIC

40

4

5.6 WORKING OF HAPTIC DEVICES

5.6.1 PHANTOM

5.6.2 CYBERGLOVES

6 FUTURE SCOPE 41

6.1 TOUCHABLE HOLOGRAPHY 41

7 CONCLUSION 47

8 BIBLOGRAPHY 48

5

CHAPTER 1

ABSTRACT

‘HAPTICS’ is a technology that adds the sense of touch to virtual environments.

Users are given the illusion that they are touching or manipulating a real physical

object.

This seminar discusses the important concepts in haptics, some of the most

commonly used haptics systems like ‘Phantom’, ‘Cyberglove’ and such similar

devices. Following this, a description about how sensors and actuators are used

for tracking the position and movement of the haptic systems, is provided.

The different types of force rendering algorithms are discussed next. The seminar

explains the blocks in force rendering. Then a few applications of haptic systems

are taken up for discussion.

6

CHAPTER 2

INTRODUCTION

Haptic technology refers to technology that interfaces the user with a vir-

tual environment via the sense of touch by applying forces, vibrations, and/or mo-

tions to the user. This mechanical stimulation may be used to assist in the creation

of virtual objects (objects existing only in a computer simulation), for control of

such virtual objects, and to enhance the remote control of machines and devices

(teleoperators). This emerging technology promises to have wide-reaching appli-

cations as it already has in some fields. For example, haptic technology has made

it possible to investigate in detail how the human sense of touch works by allow-

ing the creation of carefully controlled haptic virtual objects. These objects are

used to systematically probe human haptic capabilities, which would otherwise be

difficult to achieve. These new research tools contribute to our understanding of

how touch and its underlying brain functions work. Although haptic devices are

capable of measuring bulk or reactive forces that are applied by the user, it should

not to be confused with touch or tactile sensors that measure the pressure or force

exerted by the user to the interface.

The term haptic originated from the Greek word ἁπτικός (haptikos), mean-

ing pertaining to the sense of touch and comes from the Greek verb ἅπτεσθαι

(haptesthai) meaning to “contact” or “touch”.

7

CHAPTER 3

REVIEW OF LITERATURE

3.1 INTRODUCTION TO HOLOGRAPHY

3.1.1 Fundamentals of photonics, basic principles of holography,

Tung H. Jeong ,College of Illinois

The document describes a hologram as a recording in a two- or three-dimensional

medium of the interference pattern formed when a point source of light (the

reference beam) of fixed wavelength encounters light of the same fixed

wavelength arriving from an object (the object beam).

3.1.2 en.wikipedia.org/wiki/Holography,

Holography is described as a technique that allows the light scattered from an

object to be recorded and later reconstructed so that it appears as if the object is in

the same position relative to the recording medium as it was when recorded. 

3.2 BASIC HOLOGRAM

3.2.1 http://www.holo.com, Practical holography, Christopher

Outwater & Van Hamersveld

The document describes the hologram, that is, the medium which contains all the

information, is nothing more that a high contrast, very fine grain, black and white

photographic film.

8

The most crucial part of creating the hologram is to capture the object in motion.

3.3 WORKING THEORY OF HOLOGRAM

3.3.1 science.howstuffworks.com,optics

The website describes the conventional process of holographic construction using

Laser,beam splitter,mirrors and holographic film(photographic emulsion).

3.3.2 A New Approach to Computer-Generated Holography,

M. C. King, A. M. Noll, and D. H. Berry

Computer generation of holograms requires computing a Fourier transform for

every discrete point in the hologram.

A digital computer and automatic plotter have been used to produce a series

of perspective views of a computer-stored three-dimensional object which is

slightly rotated for each view. All of these views are

combined together optically to produce a final hologram which can be

viewed in high ambient light conditions. The reconstructed image appears

three dimensional since each eye looks through a different holographic strip

corresponding to a different view of the three-dimensional object. The net

result is a technique requiring only seconds of computer time and some

possibly automated optical manipulations to produce extremely high quality

holograms of computer-stored three-dimensional objects.

9

3.4 TYPES OF HOLOGRAMS

3.4.1 www.hologramsuppliers.com/types-of-hologram

The website describes the different types of holograms produced under different

processes and methods.

It states the types as Transmission holograms,Reflection holograms,Embossed

holograms,Integral holograms,Rainbow holograms,Computer generated

holograms and stereograms alongwith their properties,advantages ,disadvantages

and applications.

3.5 TECHNIQUES TO CREATE HOLOGRAMS

3.5.1 www.hologramexpert.com,

the website tells how to secure holograms against duplication and gives an

overview of the different techniques to create holograms.

3.5.2 www.holomail.com ,

describes the techniques to create holograms as follows

2D/3D Hologram is made up of multiple two dimensional layers with hologram

images visually placed one behind another with visual depth to produce an effect

of three-dimensional hologram structure. It has very good visual depth between

different layers and shininess on first layer.

10

Dot-Matrix Hologram allows implementing unlimited computer generated dots in

hologram. This Dot-matrix hologram is the result of designs comprising many

tiny dots, where each dot is a separate diffraction grating. They create a beautiful

impact of variable images.

3.5.3 www.optalgio.cz/ebeam technologies,

describes ebeam lithography as the start of the silicon age of holography

Holograms created by this technology are recorded to a silicon substrate by a

perfectly focused controlled electron beam. This presents a very sensitive

instrument for recording the hologram structure, this is much finer that the laser

beam.

3.6 APPLICATIONS OF HOLOGRAPHY

3.6.1 www.holophile.com

A hologram can be made not only with the light waves of a laser, but also with

sound waves and other waves in the electro-magnetic spectrum. Holograms made

with X-rays or ultraviolet light can record images of particles smaller than visible

light, such as atoms or molecules. Microwave holography detects images deep in

space by recording the radio waves they emit. Acoustical holography uses sound

waves to "see through" solid objects

The website mentions the widely used applications of holography such as

Security

Entertainment

Tax Stamp

Holographic Interferometry

Medical Applications

Memory storage

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3.7 HOLOGRAPHIC TECHNOLOGY IN 3-D MOVIES

3.7.1 http://www.televisions.com/tv-articles/TV-in-3D.php,

provides a deeper insight into the current state of development of 3D TV and 3D

cinema. 

It gives a detailed study about the two important factors involved for 3d motion

picture , the concept of parallax znd head tracking.

3.8 HOLOGRAPHIC TECHNOLOGY IN MEMORY

STORAGE

3.8.1 HOLOGRAPHIC MEMORY-A NEW GENERATION OF

STORAGE, RAHUL SINGH AND NIKHIL ENMUDI

The document describes the importance of holographic memory, its

construction ,storage capacity and conversions to machine readable forms.

3.9 FUTURE SCOPE OF HOLOGRAPHY

3.9.1 HOLOGRAPHIC PROJECTION TECHNOLOGIES OF THE

FUTURE, By Lance Winslow

The document illustrates the various future uses of holography such as

4D applications

Teaching and Training

Virtual Communication

Holographic tourism

Disaster management with holography

12

CHAPTER 4

EXISTING SYSTEMS

4.1 TYPES OF HAPTIC DEVICES

A haptic device is the one that provides a physical interface between the user and

the virtual environment by means of a computer. This can be done through an in-

put/output device that senses the body’s movement, such as joystick or data glove.

By using haptic devices, the user can not only feed information to the computer

but can also 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.

Haptic devices can be broadly classified into

4.1.1) Virtual reality/ Telerobotics based devices

i) Exoskeletons and Stationary device

ii) Gloves and wearable devices

iii) Point-sources and Specific task devices

iv) Locomotion Interfaces

4. 1.2) Feedback devices

13

i) Force feedback devices

ii) Tactile displays

4.1.1. i) Exoskeletons and Stationary devices

The term exoskeleton refers to the hard outer shell that exists on many creatures.

In a technical sense, the word refers to a system that covers the user or the user

has to wear. Current haptic devices that are classified as exoskeletons are large

and immobile systems that the user must attach him- or herself to.

4. 1.1. ii) Gloves and wearable devices

These devices are smaller exoskeleton-like devices that are often, but not always,

take the down by a large exoskeleton or other immobile devices. Since the goal of

building a haptic system is to be able to immerse a user in the virtual or remote

environment and it is important to provide a small remainder of the user’s actual

environment as possible. The drawback of the wearable systems is that since

weight and size of the devices are a concern, the systems will have more limited

sets of capabilities.

4. 1.1. iii) Point sources and specific task devices

This is a class of devices that are very specialized for performing a particular

given task. Designing a device to perform a single type of task restricts the appli-

cation of that device to a much smaller number of functions. However it allows

the designer to focus the device to perform its task extremely well. These task de-

vices have two general forms, single point of interface devices and specific task

devices.

14

4. 1.1. iv) Locomotion interfaces

An interesting application of haptic feedback is in the form of full body Force

Feedback called locomotion interfaces. Locomotion interfaces are movement of

force restriction devices in a confined space, simulating unrestrained mobility

such as walking and running for virtual reality. These interfaces overcomes the

limitations of using joysticks for maneuvering or whole body motion platforms, in

which the user is seated and does not expend energy, and of room environments,

where only short distances can be traversed.

4. 1.2. i) Force feedback devices

Force feedback input devices are usually, but not exclusively, connected to com-

puter systems and is designed to apply forces to simulate the sensation of weight

and resistance in order to provide information to the user. As such, the feedback

hardware represents a more sophisticated form of input/output devices, comple-

menting others such as keyboards, mice or trackers. Input from the user in the

form of hand, or other body segment whereas feedback from the computer or

other device is in the form of hand, or other body segment whereas feedback from

the computer or other device is in the form of force or position. These devices

translate digital information into physical sensations.

4. 1.2. ii) Tactile display devices

Simulation task involving active exploration or delicate manipulation of a virtual

environment require the addition of feedback data that presents an object’s sur-

face geometry or texture. Such feedback is provided by tactile feedback systems

or tactile display devices. Tactile systems differ from haptic systems in the scale

of the forces being generated. While haptic interfaces will present the shape,

15

weight or compliance of an object, tactile interfaces present the surface properties

of an object such as the object’s surface texture. Tactile feedback applies sensa-

tion to the skin.

4.2 PHANTOM:

Fig 4.2 Phantom Device

It is a haptic interfacing device developed by a company named Sensable tech-

nologies. It is primarily used for providing a 3D touch to the virtual objects. This

is a very high resolution 6 DOF device in which the user holds the end of a motor

controlled jointed arm. It provides a programmable sense of touch that allows the

user to feel the texture and shape of the virtual object with a very high degree of

realism. One of its key features is that it can model free floating 3 dimensional ob-

jects.

Haptic interaction uses both the sense of touch and movement. Haptic interfacing

device Developed by sensable technologies. Provides 3D touch : Adds a new di-

mension to human computer Interaction, namely haptic interaction. Haptic inter-

16

action uses both the sense of touch and movement. Programs developed for the

phantom : Mathematical curves and surface , paint witn your fingers

4.3 APPLICATION OF HAPTICS

The following are the major applications of haptic systems.

4.3.1) Graphical user interfaces.

Video game makers have been early adopters of passive haptics, which takes ad-

vantage of vibrating joysticks, controllers and steering wheels to reinforce on-

screen activity. But future video games will enable players to feel and manipulate

virtual solids, fluids, tools and avatars. The Novint Falcon haptics controller is al-

ready making this promise a reality. The 3-D force feedback controller allows you

to tell the difference between a pistol report and a shotgun blast, or to feel the re-

sistance of a longbow's string as you pull back an arrow.

17

Fig 4.3.1

Graphical user interfaces, like those that define Windows and Mac operating envi-

ronments, will also benefit greatly from haptic interactions. Imagine being able to

feel graphic buttons and receive force feedback as you depress a button. Some

touchscreen manufacturers are already experimenting with this technology. Nokia

phone designers have perfected a tactile touchscreen that makes on-screen buttons

behave as if they were real buttons. When a user presses the button, he or she

feels movement in and movement out. He also hears an audible click. Nokia engi-

neers accomplished this by placing two small piezoelectric sensor pads under the

screen and designing the screen so it could move slightly when pressed. Every-

thing, movement and sound is synchronized perfectly to simulate real button ma-

nipulation.

18

4.3.2) Surgical Simulation and Medical Training.

Fig 4.3.2

Various haptic interfaces for medical simulation may prove especially useful for

training of minimally invasive procedures (laparoscopy/interventional radiology)

and remote surgery using teleoperators. In the future, expert surgeons may work

from a central workstation, performing operations in various locations, with ma-

chine setup and patient preparation performed by local nursing staff. Rather than

traveling to an operating room, the surgeon instead becomes a telepresence. A

particular advantage of this type of work is that the surgeon can perform many

more operations of a similar type, and with less fatigue. It is well documented that

a surgeon who performs more procedures of a given kind will have statistically

better outcomes for his patients. Haptic interfaces are also used in rehabilitation

robotics.

19

In ophthalmology, "haptic" refers to a supporting spring, two of which hold an ar-

tificial lens within the lens capsule (after surgical removal of cataracts).

A 'Virtual Haptic Back' (VHB) is being successfully integrated in the curriculum

of students at the Ohio University College of Osteopathic Medicine. Research in-

dicates that VHB is a significant teaching aid in palpatory diagnosis (detection of

medical problems via touch). The VHB simulates the contour and compliance (re-

ciprocal of stiffness) properties of human backs, which are palpated with two hap-

tic interfaces (Sensable Technologies, Phantom 3.0).

Reality-based modeling for surgical simulation consists of a continuous cycle.  In

the figure given above, the surgeon receives visual and haptic (force and tactile)

feedback and interacts with the haptic interface to control the surgical robot and

instrument.  The robot with instrument then operates on the patient at the surgical

site per the commands given by the surgeon.  Visual and force feedback is then

obtained through endoscopic cameras and force sensors that are located on the

surgical tools and are displayed back to the surgeon.

4.3.3) Military Training in virtual environment.

From the earliest moments in the history of virtual reality (VR), the United States

military forces have been a driving factor in developing and applying new VR

technologies. Along with the entertainment industry, the military is responsible

for the most dramatic evolutionary leaps in the VR field.

Virtual environments work well in military applications. When well designed,

they provide the user with an accurate simulation of real events in a safe,

controlled environment. Specialized military training can be very expensive,

particularly for vehicle pilots. Some training procedures have an element of

danger when using real situations. While the initial development of VR gear and

20

software is expensive, in the long run it's much more cost effective than putting

soldiers into real vehicles or physically simulated situations. VR technology also

has other potential applications that can make military activities safer.

Fig 4.3.3.i

Today, the military uses VR techniques not only for training and safety enhance-

ment, but also to analyze military maneuvers and battlefield positions. In the next

section, we'll look at the various simulators commonly used in military training. -

Out of all the earliest VR technology applications, military vehicle simulations

have probably been the most successful. Simulators use sophisticated computer

models to replicate a vehicle's capabilities and limitations within a stationary --

and safe -- computer station.

Possibly the most well-known of all the simulators in the military are the flight

simulators. The Air Force, Army and Navy all use flight simulators to train pilots.

21

Training missions may include how to fly in battle, how to recover in an

emergency, or how to coordinate air support with ground operations.

Although flight simulators may vary from one model to another, most of them

have a similar basic setup. The simulator sits on top of either an electronic motion

base or a hydraulic lift system that reacts to user input and events within the simu-

lation. As the pilot steers the aircraft, the module he sits in twists and tilts, giving

the user haptic feedback. The word "haptic" refers to the sense of touch, so a

haptic system is one that gives the user feedback he can feel. A joystick with

force-feedback is an example of a haptic device.

Some flight simulators include a completely enclosed module, while others just

have a series of computer monitors arranged to cover the pilot's field of view. Ide-

ally, the flight simulator will be designed so that when the pilot looks around, he

sees the same controls and layout as he would in a real aircraft. Because one air-

craft can have a very different cockpit layout than another, there isn't a perfect

simulator choice that can accurately represent every vehicle. Some training cen-

ters invest in multiple simulators, while others sacrifice accuracy for convenience

and cost by sticking to one simulator model.

Ground Vehicle Simulators -Although not as high profile as flight simulators,

VR simulators for ground vehicles is an important part of the military’s strategy.

In fact, simulators are a key part of the Future Combat System (FCS) -- the foun-

dation of the armed forces' future. The FCS consists of a networked battle com-

mand system and advanced vehicles and weapons platforms. Computer scientists

designed FCS simulators to link together in a network, facilitating complex train-

ing missions involving multiple participants acting in various roles.

22

The FCS simulators include three computer monitors and a pair of joystick con-

trollers attached to a console. The modules can simulate several different ground

vehicles, including non-line-of-sight mortar vehicles, reconnaissance vehicles or

an infantry carrier vehicle

Fig 4.3.3.ii

The Army uses several specific devices to train soldiers to drive specialized vehi-

cles like tanks or the heavily-armored Stryker vehicle. Some of these look like

long-lost twins to flight simulators. They not only accurately recreate the handling

and feel of the vehicle they represent, but also can replicate just about any envi-

ronment you can imagine. Trainees can learn how the real vehicle handles in

treacherous weather conditions or difficult terrain. Networked simulators allow

users to participate in complex war games.

4.3.4) Telerobotics

In a telerobotic system, a human operator controls the movements of a robot that

is located some distance away. Some teleoperated robots are limited to very sim-

23

ple tasks, such as aiming a camera and sending back visual images. In a more so-

phisticated form of teleoperation known as telepresence, the human operator has a

sense of being located in the robot's environment. Haptics now makes it possible

to include touch cues in addition to audio and visual cues in telepresence models.

It won't be long before astronomers and planet scientists actually hold and manip-

ulate a Martian rock through an advanced haptics-enabled telerobot, a high-touch

version of the Mars Exploration Rover.

CHAPTER 5

EXISTING SYSTEMS ARCHITECTURE

5.1 WORKING OF HAPTICS

24

Fig. 5.1

Basically a haptic system consist of two parts namely the human part and the

machine part. In the figure shown above, the human part (left) senses and controls

the position of the hand, while the machine part (right) exerts forces from the

hand to simulate contact with a virtual object. Also both the systems will be

provided with necessary sensors, processors and actuators. In the case of the

human system, nerve receptors performs sensing, brain performs processing and

muscles performs actuation of the motion performed by the hand while in the case

of the machine system, the above mentioned functions are performed by the

encoders, computer and motors respectively.

5.2 Haptic Information

Basically the haptic information provided by the system will be the combination

of (i) Tactile information and (ii) Kinesthetic information.

Tactile information refers the information acquired by the sensors which are

actually connected to the skin of the human body with a particular reference to the

25

spatial distribution of pressure, or more generally, tractions, across the contact

area.

For example when we handle flexible materials like fabric and paper, we sense

the pressure variation across the fingertip. This is actually a sort of tactile

information. Tactile sensing is also the basis of complex perceptual tasks like

medical palpation, where physicians locate hidden anatomical structures and

evaluate tissue properties using their hands.

Kinesthetic information refers to the information acquired through the sensors in

the joints.

Interaction forces are normally perceived through a combination of these two

informations.

5.3 Creation of Virtual environment (Virtual reality).

Virtual reality is the technology which allows a user to interact with a computer-

simulated environment, whether that environment is a simulation of the real world

or an imaginary world. Most current virtual reality environments are primarily

visual experiences, displayed either on a computer screen or through special or

stereoscopic displays, but some simulations include additional sensory

information, such as sound through speakers or headphones. Some advanced,

haptic systems now include tactile information, generally known as force

feedback, in medical and gaming applications. Users can interact with a virtual

environment or a virtual artifact (VA) either through the use of standard input

devices such as a keyboard and mouse, or through multimodal devices such as a

wired glove, the Polhemus boom arm, and omnidirectional treadmill. The

simulated environment can be similar to the real world, for example, simulations

for pilot or combat training, or it can differ significantly from reality, as in VR

games. In practice, it is currently very difficult to create a high-fidelity virtual

26

reality experience, due largely to technical limitations on processing power, image

resolution and communication bandwidth. However, those limitations are

expected to eventually be overcome as processor, imaging and data

communication technologies become more powerful and cost-effective over time.

Virtual Reality is often used to

describe a wide variety of

applications, commonly

associated with its immersive,

highly visual, 3D environments.

The development of CAD

software, graphics hardware

acceleration, head mounted

Fig 5.3

displays; database gloves and miniaturization have helped popularize the motion.

The most successful use of virtual reality is the computer generated 3-D

simulators. The pilots use flight simulators. These flight simulators have designed

just like cockpit of the airplanes or the helicopter. The screen in front of the pilot

creates virtual environment and the trainers outside the simulators commands the

simulator for adopt different modes. The pilots are trained to control the planes in

different difficult situations and emergency landing. The simulator provides the

environment. These simulators cost millions of dollars.

The virtual reality games are also used almost in the same fashion. The player has

to wear special gloves, headphones, goggles, full body wearing and special

sensory input devices. The player feels that he is in the real environment. The

special goggles have monitors to see. The environment changes according to the

moments of the player.  These games are very expensive.

27

5.4 Haptic feedback

Virtual reality (VR) applications strive to simulate real or imaginary scenes with

which users can interact and perceive the effects of their actions in real time.

Ideally the user interacts with the simulation via all five senses. However, today’s

typical VR applications rely on a smaller subset, typically vision, hearing, and

more recently, touch.

Figure below shows the structure of a VR application incorporating visual,

auditory, and haptic feedback.

Fig 5.4

The application’s main elements are:

1) The simulation engine, responsible for computing the virtual environment’s

behavior over time;

2) Visual, auditory, and haptic rendering algorithms, which compute the virtual

environment’s graphic, sound, and force responses toward the user; and

3) Transducers, which convert visual, audio, and force signals from the computer

into a form the operator can perceive.

The human operator typically holds or wears the haptic interface device and

perceives audiovisual feedback from audio (computer speakers, headphones, and

so on) and visual displays (for example a computer screen or head-mounted

display).Whereas audio and visual channels feature unidirectional information

and energy flow (from the simulation engine toward the user), the haptic modality

exchanges information and energy in two directions, from and toward the user.

28

This bidirectionality is often referred to as the single most important feature of the

haptic interaction modality.

5.5 THEORY BEHIND FORMATION OF HAPTICS

In the early 20th century, psychophysicists introduced the word haptics to label

the subfield of their studies that addressed human touch-based perception and

manipulation. In the 1970s and 1980s, significant research efforts in a completely

different field, robotics also began to focus on manipulation and perception by

touch. Initially concerned with building autonomous robots, researchers soon

found that building a dexterous robotic hand was much more complex and subtle

than their initial naive hopes had suggested.

In time these two communities, one that sought to understand the human hand and

one that aspired to create devices with dexterity inspired by human abilities found

fertile mutual interest in topics such as sensory design and processing, grasp

control and manipulation, object representation and haptic information encoding,

and grammars for describing physical tasks.

In the early 1990s a new usage of the word haptics began to emerge. The

confluence of several emerging technologies made virtualized haptics, or

computer haptics possible. Much like computer graphics, computer haptics

enables the display of simulated objects to humans in an interactive manner.

However, computer haptics uses a display technology through which objects can

be physically palpated.

5.6 WORKING OF HAPTIC DEVICES

5.6.1 PHANTOM

29

Fig 5.6.1 Contact Display Design (Phantom)

Figure above shows the contact display design of a Phantom device. Here when

the user puts one of his finger in the thimble connected to the metal arm of the

phantom device and when the user move his finger, then he could really feel the

shape and size of the virtual 3 dimensional object that has been already

programmed inside the computer. The virtual 3 dimensional space in which the

phantom operates is called haptic scene which will be a collection of separate

haptic objects with different behaviors and properties. The dc motor assembly is

mainly used for converting the movement of the finger into a corresponding

virtual movement.

30

5.6.2 CYBERGLOVE:

Fig 5.6.2 Cybergloves

The principle of a Cyberglove is simple. It consists of opposing the movement of

the hand in the same way that an object squeezed between the fingers resists the

movement of the latter. The glove must therefore be capable, in the absence of a

real object, of recreating the forces applied by the object on the human hand with

(1) the same intensity and (2) the same direction. These two conditions can be

simplified by requiring the glove to apply a torque equal to the interphalangian

joint.

The solution that we have chosen uses a mechanical structure with three passive

joints which, with the interphalangian joint, make up a flat four-bar closed-link

mechanism. This solution use cables placed at the interior of the four-bar mecha-

nism and following a trajectory identical to that used by the extensor tendons

which, by nature, oppose the movement of the flexor tendons in order to harmo-

31

nize the movement of the fingers. Among the advantages of this structure one can

cite:

Allows 4 dot for each finger

Adapted to different size of the fingers

Located on the back of the hand

Apply different forces on each phalanx (The possibility of applying a lat-

eral force on the fingertip by motorizing the abduction/adduction joint)

Measure finger angular flexion (The measure of the joint angles are inde-

pendent and can have a good resolution given the important paths traveled

by the cables when the finger shut.

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CHAPTER 6 FUTURE SCOPE

6.1 Military and Space Applications

Fig:-6.1

[3.9.1]Holographic Technologies for Military Applications make a lot

of sense really, especially if you consider the potential for data visual-

ization and table top holographic displays of the Net-Centric

Battlespace in 4D. Spectral Imaging is already being used in medicine

and life sciences now and this is only a start to it's over all potential

for military use. In fact if you read some of the Future Fighting Force

research papers and their References and Works Cited and do just a

little extra Background Reading of other Research Papers or peruse

the Media and surf some Internet Articles on the subject it should be

relatively simple to see that this is the future. Battle Simulation and

Scenarios can be played in advance so that everypossible contingency

33

can be calculated.Holograms are a valuable tool on the battlefield it-

self also, consider Holographic Decoys and Deception Applications -

deception tactics are extremely important in wartime. Better yet, just

the fact that you have these technologies makes the enemy second

guess you and hesitate and the way that wars are fought now at light

speed, that is an extreme advantage.Many new soldiers are not quite

prepared for the reality of war and the gruesome sights they will

see, which often leave psychological and emotional scares. With

Holographic Imaging the soldier can be toughened up prior to battle

using hologram Virtual Reality Training and Mind Conditioning

equipment.

6.2 SPACE FLIGHT AND VIRTUAL REALITY SIMULATION TRAINING

Fig :-6.2

34

Holographic Projection Technologies lend themselves very well to

virtual reality simulation training for space efforts. Celestial Bodies

are quite easy to make with holographic sciences and the spectral

imaging would be dynamite for training as well. This is perhaps the

most futuristic use of Holographic Applications and yet it is also one

of the most practical as well. These tools also provide all those on

Earth with some very excellent entertainment value while it

helps us better understand how our tax dollars are being used and all

the benefits that mankind is getting out of the advancement into space.

6.3 TRAFFIC, TRANSPORTATION AND DISTRIBUTION FLOWS

Holographic heads-up displays coming to your car’s rear, side view

mirrors

Fig:-6.3

35

A new prototype of a holographic projector was unveiled last week

that makes a heads-up display on a car’s side or rear-view mirror a re-

ality.

Such a display would offer the ability to display your speed or dis-

tance between other vehicles in real time, superimposing it over the

actual road view depicted in the mirror.

The prototype, designed by U.K.-based Light Blue Optics, is far

smaller than current vehicular HUD systems and uses constructive

and destructive light interference to build the display, reports Technol-

ogy Review.

The device was presented at the Society for Information Display’s Ve-

hicles and Photons 2009 symposium, in Dearborn, Mich.

The benefits of such a device are twofold: First, this broadens the pos-

sible implementation of such technology, and second, it can help im-

prove driving safety by overlaying relevant information on top of the

actual road view, keeping drivers’ eyes where they need to be.

Oh, and as for the holographic part of it? True holograms have

nothing to do with it. The projectors use liquid crystal on silicon to

modulate beams of red, green, and blue laser light to create an image

— thus using principles of holography (projected image via light

interference) without actually creating a hologram.

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6.4 HOLOGRAMS ON CELL PHONES

Fig:-6.4

"We see 3D [video] technology moving into the cell phone, which

will have the ability to transmit information off the cell phone to cre-

ate a 3D hologram, projecting the hologram on any surface in life

size," said Paul Bloom, IBM's CTO for telecommunications research,

in a recent interview.

With a cell phone hologram, a user would be able to walk next to a

hologram of a friend, or a worker could project an enlarged 3D image

of a product needing repair to walk inside it and detect problems,

Bloom said. "The repair person could go inside the device instead of

looking it up in a manual," he said. "It has lots of implications."

IBM is already working on the cell phone hologram concept in its

labs, and Bloom predicted that a prototype should be ready in five

37

years. The cameras that are being used to create early versions of

holograms still need to be miniaturized, and software needs to be writ-

ten to for receiving input from those cameras, he added.

The cell phone hologram concept is one technology listed on the fifth

annual "IBM Next Five in Five" list, which highlights five innova-

tions that the company predicts will change people's lives over the

next five years.

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CHAPTER 7 CONCLUSION

Holographic Technology and Spectral Imagining has endless

applications, as far as the human mind can imagine. These

technologies are indeed available and getting more robust in abilities

each year. Holographic Technologies are not just about art or business

communication, they are about safety, security, education, planning

and the strength of our civilization here and beyond.

From entertainment to data visualization we can see a bright future for

Holographic Projection and the bending and manipulation of light.

Those areas of society which most often bring about research and

development funding in technology are present amongst the many

potential applications for this science. It therefore stands to reason and

makes common sense that Holographic Technologies and Spectral

Imaging will become a very integral part of human societies and

civilizations in the future. We are certain of that.

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CHAPTER 8 BIBLOGRAPHY

1.)www.holo.com/practicalholography

2.)science.housestuffworks.com/optics

3.)www.hologramsuppliers.com/types-of-holograms

4.)www.hologramexperts.com

5.)www.holomail.com

6.)www.optalgio.cz/ebeamtechnology

7.)www.holophile.com

8.)www.televisions.com/tv_articles/TV_in_3d.php

9.)Dr. Bjelkhagen, Hans I. Advances in Display Holography. Proceed-

ings of the 7th International Symposium on Display Holography. 2006.

10.)Winslow, Lance. Hoverboards of the Future. Palm Desert, CA. On-

line Think Tank Publishing, 2007.

11.) Winslow, Lance. Truck Technologies of the Future. Palm Desert,

CA. Online Think Tank Publishing, 2007.

12.) Holographic History 1973-1977:

http://holonet.khm.de/visual_alchemy/holo_hist.html

13.)http://www.laserfx.com/Backstage.LaserFX.com/Newsletter/

BriefHistory.html

14.) http://www.holo.com/gaz/comments.html

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