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IMA Workshop on Haptics, VR, and HCI Overview

IMA Workshop on Haptics, VR, and HCI Overview. John Hollerbach School of Computing University of Utah. What Are Haptic Interfaces?. “ Haptic interfaces refers to interfaces involving the human hand and to manual sensing and manipulation.” (Durlach et al., 1994).

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IMA Workshop on Haptics, VR, and HCI Overview

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  1. IMA Workshop on Haptics, VR, and HCIOverview John Hollerbach School of Computing University of Utah

  2. What Are Haptic Interfaces? “Haptic interfaces refers to interfaces involving the human hand and to manual sensing and manipulation.” (Durlach et al., 1994) • A haptic interface is comprised of • A mechanical position tracker • Actuated joints • This is just a robot attached to a human

  3. Where forces have been applied: Haptic interfaces are robots that apply forces to the body to display information. • Traditional haptics: arms and hands • Foot haptics: Sarcos Biport • Whole-body haptics: Sarcos Treadport

  4. Traditional Haptic Interfaces Body based Ground based

  5. Foot Haptics (locomotion interface) Sarcos Biport Iwata’s GaitMaster

  6. Whole-Body Haptics Sarcos Treadport II

  7. A Thin Line Separates Other Robots that Apply Forces to Humans • Programmable exercise machines • Rehabilitation robots • Assist devices • Powered exoskeletons

  8. Haptic Interfaces in Teleoperation or Virtual Reality Avatar Teleoperation

  9. Why Haptics and VR? • The most general HCI will involve haptics, not just vision and sound. • There are a lot more computers to be interfaced than telemanipulators.

  10. Arm Model World Model A Typical VR System Haptic Interface Force rendering Dynamics User Geometry Visual Interface Virtual World Auditory Interface

  11. Transparency • Stability Technical Issues • Simulation • High-fidelity for objects • Low-fidelity for haptics • Devices • Specification • Design • Control

  12. The Device Angle for VR • Precise registration to a simulation • Human factors for device use • Cost and proliferation • Novelty factor

  13. The Simulation Angle:Real-Time Requirements • Visual displays: 30-60Hz • Haptic displays: 1kHz, 1msec lag • High-frequency contact transients • Control instability

  14. Haptics for VR is not new! • Teleoperation predictor displays • Impelled by cheap, powerful PCs • Proliferated by haptics companies and innovations in research labs

  15. But What are the Applications? • Computer games • Medicine • Mechanical design • ???

  16. Haptics Symposium • #1-9 held in conjunction with ASME winter annual meeting • #10 to be held in conjunction with IEEE VR, March 24-25, 2002, in Orlando.

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