가상환경용햅틱인터페이스 개발동향 유지환 BioRobotics Lab. 한국기술교육대학교 http://robot.kut.ac.kr 2008. 8. 27
목차 햅틱의정의 햅틱의역사 응용분야 햅틱장치의종류 기술적문제점 앞으로의발전방향
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
Haptic Exploratory Procedures
Types of Sensing Kinesthesia inspires Force Cutaneous inspires Tactile
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-
From Nuclear Teleoperator Ray Goertz 1940 s
Molecular Docking Fred Brooks 1970 s User feels interaction force between molecules
Computer Controlled Telerobot JPL ~ 1987
The Entrepreneurial Era 1990 s SensAble Technologies Immersion
Current Needs and Activities Teleoperation Exploration Tele-surgery Micro/Nano Manipulation Interaction with Computer Training Education Entertainment Design and Evaluation
Exploration of Hazardous Environments Underwater Robot Space Robot
Tele-surgery
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
Training
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
Entertainments
Design and Evaluation
Type of Haptic Devices I Kinesthetic Tactile Non- Portable Portable
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.immersion.com Force Dimension, Switzerland, (founded in 2001) http://www.forcedimension.com Novint Technologies, USA http://home.novint.com MOOG, The Netherland http://www.moog.com/
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
Non-Portable Kinesthetic Impedance PHANTOM Omni Haptic Device PHANTOM Desktop Haptic Device
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: 0.3-0.5 Nm http://www.haption.com/eng
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 http://www.haption.com/eng
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 http://home.novint.com/
Non-Portable Kinesthetic Impedance Workspace 160x160x110 mm Forces 12N Resolution 0.01 mm Omega X haptic device http://www.forcedimension.com
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 http://www.haption.com/eng
Non-Portable Kinesthetic Admittance MOOG, The Netherland http://www.moog.com/
Non-Portable Kinesthetic Admittance Wearable Robotics - Exoskeleton University of Washington, USA B. Hannaford Prototype 1 Prototype 3 http://brl.ee.washington.edu
Portable Kinesthetic Impedance Rotary Haptic Knob Scroll Wheel http://www.immersion.com/
Portable Kinesthetic Admittance Portable Exoskeleton Berkeley University of California, USA
Portable Kinesthetic Admittance Portable Exoskeleton Berkeley University of California, USA http://bleex.me.berkeley.edu/
Non-Portable Tactile Pneumatic Hydraulic Digital Clay
Portable Tactile Mobile Devices with lateral tactile display based on piezoelectric bending motors. McGrill University, Canada http://www.cim.mcgill.ca/ mcgill ca/
Portable Tactile UbiPen pen with integrated tactile display ETRI
Portable Tactile Computer Mouse with Tactile Display p p y KAIST
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
Mechanism Friction and inertia force from the mechanism distort Friction and inertia force from the mechanism distort force
Stability
Performance Effective way to imitate physical behavior Multimodal (Haptic + Sound + Visual)
Rendering Issues Collision detection Computation burden
Human Factors It was Realistic! No way
What will be the Next? 1 st Generation 2 nd Generation 3 rd Generation H-M Interaction Human-M/C Interaction Human-Information Interaction?
Ubiquitous World (UW) in Near Future Numerous useful digital information will be available
Need to Handle Numerous Information?
BMW idrive Shift some of the load information feedback to the driver from visual sense to the tactile sense
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 3.5 3.0 2.5 2.0 1.5 1.0 0.5 00 0.0 1 2 3 4 5 6 7 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 9.0 8.5 8.0 7.5 7.0 6.5 6.0 5.5 5.0 4.5 4.0 3.5 3.0 2.5 2.0 1.5 1.0 0.5 0.0 1 2 3 4 5 6 7 FF Gain = 7 FF Gain = 12 FF Gain = 20 FF Gain = 10000 Number of completion
Haptic Information for the Disabled
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?
Thank you Q&A