Virtual Haptic Back Homepage
Haptic, from the Greek αφή (Haphe), means pertaining to the sense of touch
(or possibly from the Greek word haptesthai meaning “contact” or “touch”).
A 'Virtual Haptic Back' (VHB) is being successfully integrated in the
curriculum of students at the Ohio University College of Osteopathic Medicine.
Research indicates that VHB is a significant teaching aid in palpatory diagnosis
(detection of medical problems via touch). The VHB simulates the contour and
compliance (reciprocal of stiffness) properties of human backs, which are
palpated with two haptic interfaces (SensAble Technologies, PHANToM 3.0). This
research is being conducted at the 'Interdisciplinary Institute for
Neuromusculoskeletal Research (IINR)'
Haptic technology refers to technology which interfaces the user via the sense
of touch by applying forces, vibrations and/or motions to the user. This
mechanical stimulation is used to create haptic virtual objects. Watch an
animated demo of these basic haptic technology concepts here. This emerging
technology promises to have wide reaching applications. In some fields, it
already has. For example, haptic technology has made it possible to investigate
in detail how the human sense of touch works, by allowing the creation of
carefully-controlled haptic virtual objects. These objects are used to
systematically probe human haptic capabilities. This is very difficult (and
perhaps impossible) to achieve otherwise. 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.
History
One of the earliest forms of haptic devices is used in large modern aircraft
that use servo systems to operate control systems. Such systems tend to be
"one-way" in that forces applied aerodynamically to the control surfaces are not
perceived at the controls, with the missing normal forces simulated with springs
and weights. In earlier, lighter aircraft without servo systems, as the aircraft
approached a stall the aerodynamic buffeting was felt in the pilot's controls, a
useful warning to the pilot of a dangerous flight condition. This control shake
is not felt when servo control systems are used. To replace this missing clue,
the angle of attack is measured, and when it approaches the critical stall point
a "stick shaker" (an unbalanced rotating mass) is engaged, simulating the
effects of a simpler control system. This is known as haptic feedback or force
feedback.
Teleoperators and simulators
Teleoperators are remote controlled robotic tools, and when contact forces are
reproduced to the operator, it is called "haptic teleoperation". The first
electrically actuated teleoperators were built in the 1950's at the Argonne
National Lab, USA, by Dr. Raymond C. Goertz, to remotely handle radioactive
substances. Since then, the use of "force feedback" has become more widespread
in all kinds of teleoperators such as underwater exploration devices controlled
from a remote location.
When such devices are simulated using a computer (as they are in operator
training devices) it is useful to provide the force feedback that would be felt
in actual operations. Since the objects being manipulated do not exist in a
physical sense, the forces are generated using haptic (force generating)
operator controls. Data representing touch sensations may be saved or played
back using such haptic technologies.
Haptic simulators are currently used in medical simulators and flight simulators
for pilot training (2004).
Games
Some low-end haptic devices are already common. These feedback devices are
commonly known as joysticks and game controllers. At first, such features and/or
devices used to be optional components (like the Nintendo 64 controller's Rumble
Pak). Now many of the newer generation console controllers and some joysticks
feature built in devices. Many have believed these controllers to be providing
force feedback when in reality true force feedback involves the feedback of a
resisting force to the user. An example of this feature would be the simulated
automobile steering wheels that are programmed to provide a "feel" of the road.
As the user makes a turn or accelerates, the steering wheel responds by
resisting turns or slipping out of control. Another concept of force feedback
was that of the ability to change the temperature of the controlling device.
This would prove especially efficient for prolonged usage of the device.
However, due to the high cost of such a technology (not to mention the power
drainage of such a component) the closest many manufacturers have come to
realizing this concept has been to install air holes or small fans into the
device to provide the users hands with ventilation while operating the device.
Novint Technologies recently announced their development of a high-fidelity
consumer haptic (3D touch) controller which they plan to introduce in the video
game market in 2007. The device, which is called the Novint Falcon, lets users
feel weight, shape, texture, dimension, and force effects when playing
touch-enabled games. The device, which is designed to retail for under $250 in
mass market quantities, performs comparably to commercial devices that cost
thousands of dollars, making the technology practical for consumer applications
for the first time.
The Novint Falcon and userUsers hold the interchangeable handle, or end effector
of the Novint Falcon as shown in this image.
Haptics in virtual reality
Haptics is gaining widespread acceptance as a key part of Virtual Reality
systems, adding the sense of touch to previously visual-only solutions such as
'The Wedge' and more recently in laptop-based VR solutions such as the
'3D-Mobile Immersive Workstation'. Most of these solutions use stylus-based
haptic rendering, where the user interfaces to the virtual world via a tool or
stylus, giving a form of interaction that is computationally realistic on
today's hardware
Research
Some research has been done into simulating the different kinds of tactition by
means of high-speed vibrations or other stimuli. One device of this type uses a
pad array of pins, where the pins vibrate to simulate a surface being touched.
While this does not have a realistic feel, it does provide useful feedback,
allowing discrimination between various shapes, textures, and resiliencies.
Medicine
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
machine 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.
In ophthalmology, "haptic" refers to a supporting spring, two of which hold an
artificial lens within the lens capsule (after surgical removal of cataracts).
Literature
The use of haptic devices in entertainment appeared in the 1932 futurist fiction
book Brave New World by Aldous Huxley. The author described a future
entertainment theater where the arm rests of the seats had positions for the
hands to rest that gave haptic stimulation. Rather than "the movies" these
theaters and shows were called "the feelies". The programs exhibited were of an
erotic nature. Haptic devices, including self-propelled haptics, feature
prominently in Vernor Vinge's 2006 novel Rainbows End.
Remote sexual relations
One envisioned use of haptics is for "teledildonics". Recent developments such
as the 'CyberGlove' indicate that this may be plausible and not just an
interesting idea. Some sex toys are now available which can be computer
controlled; normally this comes in the form of an online movie or Web site which
sends commands to the toy at scripted moments.
Robotics
The Shadow Dextrous Robot Hand uses the sense of touch, pressure, and position
to reproduce the human grip in all its strength, delicacy, and complexity. The
SDRH was first developed by Richard Greenhill and his team of engineers in
Islington, London, as part of The Shadow Project, (now known as the Shadow Robot
Company) an ongoing research and development program whose goal is to complete
the first convincing humanoid. An early prototype can be seen in NASA's
collection of humanoid robots, or robonauts (http://robonaut.jsc.nasa.gov/robonaut.html).
The Dextrous Hand has haptic sensors embedded in every joint and in every finger
pad which relay information to a central computer for processing and analysis.
Carnegie Mellon University in Pennsylvania and Bielefeld University in Germany
in particular have found The Dextrous Hand is an invaluable tool in progressing
our understanding of haptic awareness and are currently involved (2006) in
research with wide ranging implications.
Arts
Touching is not limited to a feeling, but it allows interactivity in real-time
with virtual objects. Thus haptics are commonly used in virtual arts, such as
sound synthesis or graphic design/animation. The haptic device allows the artist
to have direct contact with a virtual instrument which is able to produce
real-time sound or images. We can quote the physical modeling synthesis which is
an efficient modeling theory to implement cross-play interaction between sound,
image, and physical objects. For instance, the simulation of a violin string
produces real-time vibrations of this string under the pressure and expressivity
of the bow (haptic device) held by the artist.
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