Microsoft PowerPoint - Introduction to Haptic interfaces [호환 모드]

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1 가상환경용햅틱인터페이스 개발동향 유지환 BioRobotics Lab. 한국기술교육대학교

2 목차 햅틱의정의 햅틱의역사 응용분야 햅틱장치의종류 기술적문제점 앞으로의발전방향

3 What is Haptic? hap tic ('hap-tik) adj. Of or relating to the sense of touch; tactile. [Greek haptikos, from haptesthai, to grasp, touch. (1890)] Anything relating to the sense of touch Human haptic Haptic feedback/haptic interfaces Machine haptics Haptic vs. Optic

4 Haptic Exploratory Procedures

5 Types of Sensing Kinesthesia inspires Force Cutaneous inspires Tactile

6 What is Haptic Interfaces? Mechatronic (computer and mechanical) systems to Mechatronic (computer and mechanical) systems to allow humans to feel and physically manipulate virtual or remote environments -Blake Hannaford-

7 From Nuclear Teleoperator Ray Goertz 1940 s

8 Molecular Docking Fred Brooks 1970 s User feels interaction force between molecules

9 Computer Controlled Telerobot JPL ~ 1987

10 The Entrepreneurial Era 1990 s SensAble Technologies Immersion

11 Current Needs and Activities Teleoperation Exploration Tele-surgery Micro/Nano Manipulation Interaction with Computer Training Education Entertainment Design and Evaluation

12 Exploration of Hazardous Environments Underwater Robot Space Robot

13 Tele-surgery

is impossible to observe the manipulation through an optical

14 Micro/Nano Manipulation One of the biggest challenge of nanotechnology is the manipulation of the Nano-sized materials It is impossible to observe the manipulation through an optical microscope Haptic can improve dramatically the efficiency of nanomanipulations

15 Training

pathways in the brain, Druyan (1997) Students t are able to feel

16 Education Haptic involves active and intentional action Combination of kinesthetics and sensory perception creates particularly strong neural pathways in the brain, Druyan (1997) Students t are able to feel nano-sized materials such as viruses that t are imaged under an atomic force microscope

17 Entertainments

18 Design and Evaluation

19 Type of Haptic Devices I Kinesthetic Tactile Non- Portable Portable

20 Type of Haptic Devices II by rendering methods Impedance Type Admittance Type

Companies SensAble Technologies, USA, (founded in 1993) http://www.sensable.com Haption, France http://www.haption.com/enghaption Immersion, USA, (founded in 1993) http://www.

21 Companies SensAble Technologies, USA, (founded in 1993) Haption, France Immersion, USA, (founded in 1993) Force Dimension, Switzerland, (founded in 2001) Novint Technologies, USA MOOG, The Netherland

22 Non-Portable Kinesthetic Impedance PHANTOM Premium 1.5/6DOF PHANTOM Premium 3.0/6DOF Workspace: 381 W x 267 H x 191 D mm Max. force: 8.5N Position resolution 0.03 mm Workspace: 838 W x 584 H x 406 D mm Max. force: 22N Position resolution: ~ 0.02 mm

23 Non-Portable Kinesthetic Impedance PHANTOM Omni Haptic Device PHANTOM Desktop Haptic Device

24 Non-Portable Kinesthetic Impedance Virtuose Family Virtuose 6D Desktop Workspace: Translation: Sphere 120 mm in diameter Rotation: 35 in the 3 directions at the center Maximum Force: 7-10 N Maximum Torque: Nm

25 Non-Portable Kinesthetic Impedance Virtuose Family VIRTUOSE 6D35-45 Workspace: 450 mm Maximum force: 35 N Continual force: 10 N Maximum torque: 3 Nm Continuous torque: 1 Nm

26 Non-Portable Kinesthetic Impedance Novint Falcon for computer games 3DOF degree-of-freedom freedom positional sensing Workspace: 100x100x100 mm Force: ~ 9 N Position resolution: 400 dpi

27 Non-Portable Kinesthetic Impedance Workspace 160x160x110 mm Forces 12N Resolution 0.01 mm Omega X haptic device

28 Non-Portable Kinesthetic Admittance Virtuose Family VIRTUOSE 6D40-40 new generation master arm for teleoperation with force-feedback Workspace: 400 mm Maximum force: 100 N Continual force: 30 N Maximum torque: 10 Nm Continuous torque: 3 Nm

29 Non-Portable Kinesthetic Admittance MOOG, The Netherland

30 Non-Portable Kinesthetic Admittance Wearable Robotics - Exoskeleton University of Washington, USA B. Hannaford Prototype 1 Prototype 3

31 Portable Kinesthetic Impedance Rotary Haptic Knob Scroll Wheel

32 Portable Kinesthetic Admittance Portable Exoskeleton Berkeley University of California, USA

33 Portable Kinesthetic Admittance Portable Exoskeleton Berkeley University of California, USA

34 Non-Portable Tactile Pneumatic Hydraulic Digital Clay

35 Portable Tactile Mobile Devices with lateral tactile display based on piezoelectric bending motors. McGrill University, Canada mcgill ca/

36 Portable Tactile UbiPen pen with integrated tactile display ETRI

37 Portable Tactile Computer Mouse with Tactile Display p p y KAIST

38 Technical Issues of Haptic Interfaces Advanced d mechanism designs Low mass, high stiffness, high dexterity, kinematics, actuators with high T/M ratio and high resolution sensors Control engineering Stability Quality of force feedback Computation Rendering Collision detection Human factor (Performance measure) Psychophysics Ergonomics

39 Mechanism Friction and inertia force from the mechanism distort Friction and inertia force from the mechanism distort force

40 Stability

41 Performance Effective way to imitate physical behavior Multimodal (Haptic + Sound + Visual)

42 Rendering Issues Collision detection Computation burden

43 Human Factors It was Realistic! No way

44 What will be the Next? 1 st Generation 2 nd Generation 3 rd Generation H-M Interaction Human-M/C Interaction Human-Information Interaction?

45 Ubiquitous World (UW) in Near Future Numerous useful digital information will be available

46 Need to Handle Numerous Information?

47 BMW idrive Shift some of the load information feedback to the driver from visual sense to the tactile sense

48 Industrial Crane Teleoperation Sway Angle vs Time No Force Feedback

Observe-by-Wire by Error E 8.5 80 8.0 7.5 7.0 6.5 6.0 5.5 5.0 4.5 40 4.

0 1 2 3 4 5 6 7 With OBW Without OBW Subject Driver s view is

rugged overhead guard 3. Error 9.0 8.5 8.0 7.5 7.0 6.5 6.0 5.5 5.0 4.5 4.

49 Observe-by-Wire by Error E With OBW Without OBW Subject Driver s view is significantly reduced by the loads 2, the mast configuration 1, and the rugged overhead guard 3. Error FF Gain = 7 FF Gain = 12 FF Gain = 20 FF Gain = Number of completion

50 Haptic Information for the Disabled

51 H-M/C vs. H-I Haptic Interaction H-M/C Interaction H-I Interaction Type of Device Desktop, Robot Wearable? Rendering Method Based on Physics? Performance P/F matching, Psychophysical h Measure research Emotion?

52 Thank you Q&A

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