IMGD 3xxx - HCI for Real, Virtual, and Teleoperated Environments: - - PowerPoint PPT Presentation

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imgd 3xxx hci for real virtual and teleoperated

IMGD 3xxx - HCI for Real, Virtual, and Teleoperated Environments: - - PowerPoint PPT Presentation

Jun 03, 2023 172 likes •309 views

IMGD 3xxx - HCI for Real, Virtual, and Teleoperated Environments: Haptic Cues by Robert W. Lindeman gogo@wpi.edu Haptic Displays Haptic sense is most complex Tactile Stimuli on the skin Different kinds of mechanoreceptors,

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IMGD 3xxx - HCI for Real, Virtual, and Teleoperated Environments: Haptic Cues

by Robert W. Lindeman gogo@wpi.edu

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 2

Haptic Displays

 Haptic sense is most complex

 Tactile

 Stimuli on the skin  Different kinds of mechanoreceptors, each with

varying types of sensitivity

 Temperature

 Actually part of tactile

 Kinesthetic

 Force on the muscles and tendons  Proprioception  Force feedback

 Wind  Pain

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 3

Haptic Sense

The haptic sense is bidirectional

 Senses the environment  Acts on the environment  Tight coupling between the two

Skin is the largest organ

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 4

Haptic Devices

Pin arrays for the finger(s) Force-feedback "arms" "Pager" motors Particle brakes Passive haptics Many devices are application specific

 Like surgical devices

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 5

Haptic Feedback in VR

 Tactile: Surface

properties

 Most densely populated

area is the fingertip (okay, it's the tongue)

 Kinesthetic: Muscles,

Tendons, etc.

 Also known as

proprioception

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 6

Haptic Sense (cont)

Sensitivity varies greatly

 Two-point discrimination

45mm Calf 42mm Thigh 41mm Shoulder 39mm Back 39mm Upper Arm 35mm Forearm 30mm Belly 20mm Foot 15mm Forehead 10mm Palm 7mm Nose 6mm Cheek 2-3mm Finger Threshold Distance Body Site

http://faculty.washington.edu/chudler/chsense.html

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 7

SensAble PHANToM

http://www.sensable.com/

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 8

Immersion CyberGrasp

http://www.immersion.com/

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 9

Passive Haptic Paddle

http://www.cs.wpi.edu/~gogo/hive/

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 10

UNC Being There Project

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 11

Haptic Feedback in VR

Virtual contact

 What should we do when we know that

contact has been made with a virtual object?

 The output of collision detection is the input

to virtual contact

 Cues for understanding the nature of contact

with objects are typically over-simplified (e.g., sound)

Training aids

 Can we convey additional information using

the haptic channel?

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 12

Vibrotactile Cueing Devices

Vibrotactile feedback has been

incorporated into many devices

Can we use this technology to provide

scalable, wearable touch cues?

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R.W. Lindeman - WPI Dept. of Computer Science Interactive Media & Game Development 13

Vibrotactile Feedback Projects

Navy TSAS Project TactaBoard and TactaVest