[SOLVED] CS AI algorithm Introduction to haptics

Introduction to haptics
CS 223A
AI / ROBOTICS Lab Stanford University
Francois Conti
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outline
what is haptics ?
current force feedback devices
tactile rendering algorithms
applications in the field of haptics demonstrations
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definition | according to Webster
main entry: haptic
pronunciation: hap-tik
function: adjective
etymology: international scientific vocabulary,
from Greek haptesthai to touch date: circa 1890
1 : relating to or based on the sense of touch
2 : characterized by a predilection for the sense of
touch
Merriam-Webster, Incorporated, http://www.m-w.com/cgi-bin/dictionary
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the sense of touch
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goals
Omega / Force Dimension PHANToM / Sensable Technologies
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1
outline
what is haptics ?
current force feedback devices tactile rendering algorithms
applications in the field of haptics demonstrations
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haptic devices 1 DOF
SAMSUNG / IMMERSION TECHNOLOGIES
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haptic devices 2 DOF
IMMERSION TECHNOLOGIES
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haptic devices 3/6 DOF
PHANTOM Sensable Technologies OMEGA Force Dimension
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haptic devices medical training
XITACT
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haptic devices bimanual interfaces
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JPL
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haptic devices grasping capabilities
VIRTUAL TECHNOLOGIES
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2

haptic devices ultimate workstations
IMMERSION
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haptic devices golf trainer
GRADENER AND SASCH ORLIC, PGA GOLF PROFESSIONAAL
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outline
what is haptics ?
current force feedback devices
tactile rendering algorithms
applications in the field of haptics demonstrations
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no contacts
no reaction forces
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haptic rendering
virtual object cursor (sphere) (3 dof)
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haptic rendering
move cursor towards surface
virtual object cursor (sphere) (3 dof)
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haptic rendering
virtual object cursor (sphere) (3 dof)
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3

haptic rendering
collision detected
virtual object cursor (sphere) (3 dof)
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haptic rendering
reaction force computed force magnitude ?
F
virtual object (sphere)
cursor (3 dof)
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haptic rendering
spring model F =ks d
F
d
virtual object (sphere)
cursor (3 dof)
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haptic rendering
virtual object (sphere)
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haptic rendering
virtual object cursor
?
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haptic rendering
F
virtual object
cursor
d
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4

haptic rendering
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haptic rendering
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haptic rendering
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haptic rendering
?
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haptic rendering
?
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haptic rendering
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haptic rendering
(object 1)
(object 2)
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haptic rendering
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(object 1)
(object 2)
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haptic rendering
(object 1)
(object 2)
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haptic rendering
?
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haptic rendering
pop through effect with thin objects
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Haptic Device and Avatar
avatar
(tool, cursor, virtual finger, god object, proxy)
avatar: to follow the haptic device while respecting the laws of physics
haptic device
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Connecting the Device to the Avatar
avatar
haptic device
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God Object Algorithm
avatar / haptic device
time: t
constraint
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avatar
time: t
God Object Algorithm
check for any collision between the segment and the VR environment
haptic device
time: t + dt
constraint
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avatar
time: t
God Object Algorithm
check for any collision between the segment and the VR environment
haptic device
time: t + dt
constraint
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God Object Algorithm
check for any collision between the segment and the VR environment
avatar
time: t
constraint
collision
haptic device
time: t + dt
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God Object Algorithm
check for any collision between the segment and the VR environment
avatar
time: t
constraint
collision
haptic device
time: t + dt
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God Object Algorithm
avatar
time: t
constraint
haptic device
time: t + dt
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God Object Algorithm
avatar / haptic device
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God Object Algorithm
avatar
collision #1
constraint #1
haptic device
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God Object Algorithm
constraint #1
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God Object Algorithm
constraint #1 constraint #2
collision #2
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God Object Algorithm
constraint #1 constraint #2
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avatar
God Object Algorithm
collision #3 haptic device
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Computing the Reaction Force
avatar
k
x
F = kmaterial x
haptic device
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Finger Proxy Algorithm
The Haptic Display of Complex Graphical Environments
D. Ruspini, K. Kolarov and O. Khatib
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demonstration
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Experimental haptics
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Experimental haptics
final project demo
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1
outline
what is haptics ?
current force feedback devices
tactile rendering algorithms
applications in the field of haptics demonstrations
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Haptic Manipulation
STANFORD UNIVERSITY
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Medical Field
PHILIPS MEDICAL
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Medical Field
medical control interface
radiofrequency catheter ablation
strokeriskincreasedby
atrial fibrillation
stroke is 3rd leading cause of death in the US
heartbeatdisorders arrhythmia, tachycardia potentially dangerous
carefullydestroyabnormalareas ablation catheter delivers RF energy
minimalinvasiveprocedure requires high precision and reliability
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medical field
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1
outline
what is haptics ?
current force feedback devices
tactile rendering algorithms
applications in the field of haptics demonstrations
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