Functional Analysis of Haptic Devices Damien Courouss, Jean-Loup - - PowerPoint PPT Presentation

Functional Analysis

• f Haptic Devices

Damien Couroussé, Jean-Loup Florens ACROE & ICA Laboratory Grenoble, France

ICA Laboratory (Computer Arts Lab.)

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Introduction

• Gesture is a very versatile phenomenon
• There are many applications of Haptics / Haptic Devices
• There are many different Haptic Devices

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Introduction

Human ?

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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• The particularity of Haptics is the Mechanical Coupling

between the Human and the (manipulated) Object

Introduction

Human Object

Natural situation

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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• The particularity of Haptics is the Mechanical Coupling

between the Human and the (manipulated) Object

Introduction

Human

Simulation Algorithm

Virtual Object Natural situation Mediated situation

Haptic Device Human Object

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Natural Situation Mediated Situation

H O

H O

Haptic Device + Robot

Object

O H

H O

Haptic Device + Robot

Interaction

O H

H O

Haptic Device + Robot

Task

O H

H O

Haptic Device + Robot

Human

Mechanical Coupling

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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H O O H O H

H O

Haptic Device + Robot

H O

Haptic Device + Robot

H O

Haptic Device + Robot

Object

Object-based functional approach

Interaction Task

O H

H O

Haptic Device + Robot

Human

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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• Observation of the Object as a separate object
• The Haptic Device is part of the Object in the mediated

situation Examples:

– Transparency [D. Lawrence et al.] – Passivity [E. Colgate et al.]

Object-Based functional approach

O

O

Haptic Device + Robot

H O

H O

Haptic Device + Robot

Object

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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O H O H

H O

Haptic Device + Robot

H O

Haptic Device + Robot

Human-based functional approach

Interaction Task

H O

H O

Haptic Device + Robot

Object

O H

H O

Haptic Device + Robot

Human

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Human-based functional approach

• Symmetrical of the Object-based approach
• Related to the field of psychophysics
• Two complementary positions:
• 1. The Haptic Device is a new mean to study the human sensory-

motricity

• 2. The mediated situation is a new situation for the Human

O H

H O

Haptic Device + Robot

Human

Human Human Haptic Device

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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O H O H O H

H O

Haptic Device + Robot

H O

Haptic Device + Robot

H O

Haptic Device + Robot

Interaction-based functional approach

Human Interaction Task

H O

H O

Haptic Device + Robot

Object

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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O H

H O

Haptic Device + Robot

Interaction-based functional approach

Interaction

• Observation of the particular phenomena emerging from the coupling
• No dissociation of the connection H-O
• The approach the mostly related to Enaction

Examples

• Instrumental playing
• Dynamics-based multisensory simulation

O H

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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O H O H

H O

Haptic Device + Robot

H O

Haptic Device + Robot

Task-based functional approach

Interaction Task

H O

H O

Haptic Device + Robot

Object

O H

H O

Haptic Device + Robot

Human

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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O H

H O

Haptic Device + Robot

Task

Task-based functional approach

C H E T H E H E H O C H E T H E H E H O

Environment / Immersion Tool Command Object manipulation

Line Of Mobility Limit Of the Virtual Environment

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Task-based approach: Environment/Immersion

O H

H O

Haptic Device + Robot

Task

H E H E

Environment / Immersion

• The line of mobility is between H and E
• Mediated situation = immersive situation: a part of the

Human body is situated inside the VE

• Need of a high transparency

Example: Exoskeletons, locomotion devices

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Task-based approach: Tool / Command

• Vis-à-vis situations (no immersion)
• Involves an intermediate object between H and E
• A part of the Haptic Device is located in the Real

World, while the other part is in the VE

• No need for high transparency

O H

H O

Haptic Device + Robot

Task

C H E T H E C H E T H E

Tool Command

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Task-based approach: Object

• Line of Mobility situated between H and O
• Limit of the VE is concomitant with the limit of O

the Haptic device must present very particular properties

• Example: FEELEX, VOLFLEX, rheological devices

O H

H O

Haptic Device + Robot

Task

H O H O

Object manipulation

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Conclusion

• Typology based on the functional properties of

Haptic Devices and research works

• Four approaches:

H O

H O

HD

O H

H O

HD

O H

H O

HD

O H

H O

HD

• Environment / Immersion
• Tool
• Command
• Object manipulation

– Object – Human – Interaction – Task

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Conclusion

C H E T H E H E H O C H E T H E H E H O

Environment / Immersion Tool Command Object manipulation

SEPARATED TECHNOLOGICAL AREAS

Functional Analysis of Haptic Devices Enactive/07, November 14th, 2007, Grenoble

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Thanks for your attention!