3. • Virtual reality is a form of human-computer
interaction providing a virtual environment
that one can explore through direct interaction
with our senses.
• It’s a mere imitation of the real world.
• BUT IS IT COMPLETE???
4. Our primary interface with the real world is
our haptic sense (sense of touch).
How important is our sense of touch?
5. In order to complete the imitation of the real
world one should be able to interact with the
environment and get a feedback.
User should be able to touch the virtual object
and feel a response from it.
This feedback is called Haptic Feedback.
6. Haptics, is the technology of adding the
sensation of touch and feeling to computers.
A haptic device gives people a sense of touch
with computer-generated environments, so
that when virtual objects are touched, they
seem real and tangible.
Understanding and enabling a compelling
experience of Presence not limited to "being
there", but extended to "being in touch" with
remote or virtual surroundings
7. Haptics is implemented through different type of
interactions with a haptic device
communicating with the computer. These
interactions can be categorized into the
different types of touch sensations a user can
receive:
Tactile feedback
Force feedback
8. • Virtual Reality Modeling language (VRML)
• Tells the interface how much force the haptic
device should return when it is touched.
11. It works by monitoring the position of a users
fingertip or hand through optical encoders
attached to the device
The geometric, material, kinematic, and
dynamic properties of the world we wish to
represent can be modeled and stored.
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12. Force and motion are the most important hap tic
cues
Many meaningful hap tic interactions involve
little or no torque
A small wrist-centered workspace is sufficient
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13. A significant component of our ability to "visualize,"
remember and establish cognitive models of the
physical structure of our environment systems from
hap tic interactions with objects in the environment.
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14. The most significant design feature of the
Phantom is the passive, 3 degree-of-freedom
"thimble-gimbal.“
Introducing three passive freedoms with the
"thimble-gimbal" greatly simplifies
programming as well as mechanism design
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15. Many meaningful hap tic interactions occur
within the volume that the finger tip spans
when the fore-arm is allowed only limited
movement
PHANTOM should be constructed such that a
user could move the wrist freely without
encountering the edges of the workspace
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16. Free space must feel free
Solid virtual objects must feel stiff
Virtual constraints must not be easily saturated
21. The Novint Falcon is the first haptic interface device to
bring 3D touch.
As the Novint Falcon is moved, the computer keeps
track of a 3D cursor.
When the 3D cursor touches a virtual object, the
computer registers contact with that object.
And updates currents to motors in the device to create
an appropriate force to the device’s handle, which the
user feels.
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22. large and immobile systems that the user must
attach him or herself to.
their large size and immobile nature allow for
the generation of large and varied force
information.
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23. The user can move naturally without being
weighed down by a large exoskeleton or
immobile device
E.g.Hand Master
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31. The development of the PHANTOM device has
demonstrated the feasibility of a relatively low-
cost system which can provide convincing
sensations of interactions with virtual object
With the evolution of this device ,today
multiple finger interactions and multiple user
interactions in shared workspaces with the
device
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