Haptic technology uses actuators and sensors to enable tactile feedback through touch. It allows users to interact with virtual objects through force, vibration and motion. There are four generations of haptic technology with increasing levels of touch-coordinate specificity and customizable effects. Haptic systems combine tactile and kinesthetic information to create virtual haptic objects that can be manipulated through force-feedback devices like exoskeletons and gloves. Current applications include medical simulation, video games, and virtual reality. Future uses may include holographic interaction and assistive technologies.

2. Introduction
• Haptic technology, or haptics, is a tactile feedback
technology which takes advantage of the sense of touch
by applying forces, vibrations, or motions to the user.
• Haptics are enabled by actuators that apply forces to the
skin for touch feedback, and controllers. The actuator
provides mechanical motion in response to an electrical
stimulus.
• Haptic technology does for the sense of touch what
computer graphics does for vision.

3. Why it is called Haptic ?
• The word haptic, from the Greek word haptikos, means
pertaining to the sense of touch and comes from the
Greek verb haptesthai, meaning to contact or to touch.
• Touch can result in many different physiological reactions.
• Of the five senses, touch is the most proficient and the
only one capable of simultaneous input and output.

4. Generation of haptic
• First generation – use of electromagnetic technologies
which produce a limited range of sensations
• Second generation - touch-coordinate specific responses
allowing the haptic effects to be localized to the position on
a screen or touch panel, rather than the whole device
• Third generation - delivers both touch-coordinate specific
responses and customizable haptic effects
• Fourth generation - pressure sensitivity, i.e. how hard you
press on a flat surface can affect the response

5. Building blocks of a haptic system

6. Haptic Information
Basically the haptic information provided by the system is
the Combination of :
Tactile Information
It refers the information acquired by the sensors which
are actually connected to the skin of the human body.
Kinesthetic Information
It refers to the information acquired through the sensors
in the joints.

7. Virtual reality
• Haptic technology allows creating computer-generated
Haptic Virtual Objects (HVOs), which can be touched and
manipulated with one's hands or body.
• HVOs provide a rich combination of cutaneous and
kinesthetic stimulation through a bidirectional haptic (touch)
information flow between HVOs and human users.
• HVOs can have many of the real-object mechanical
properties such as weight and shape of objects, object
elasticity, object's surface texture (e.g., smooth or rough),
etc.

8. HVO creation
• HVOs are created through force fields (or "force-
feedback"), generated by computer-controlled
mechanical systems called Haptic Interfaces (HIs).
• An HI delivers the force-feedback to a person's hands or
body. This reproduces major aspects of what actually
happens when touching real, everyday objects.

9. How it works (example)
• A person uses the manipulandum to "poke" an HVO (dashed surface).
• HI's sensors measure the current position of the manipulandum's tip.
• A Control Computer (CC) monitors this position and detects the
“collision" of the manipulandum's tip with the HVO.
• CC calculates a simulated contact force from a model (e.g., equations)
of the real interaction's physics.
• The CC activates the HI's actuators (e.g., electric motors) which, in combination with HI
mechanics, produce an actual physical force that is applied into the manipulandum's tip.
• This force physically realizes the simulated contact force.
• Different manipulandums can be used to interact with HVOs, e.g., tools resembling thimbles
(for fingertip insertion), scissors (e.g., for surgical simulation), hand exoskeletons, etc.

10. Haptic Rendering
• The software-controlled Haptic Virtual
Objects(HVO)creation process is called Haptic
Rendering (HR).
• The Control Computer (CC)executes HR events (collision
detection, force calculation and generation when
necessary) at a high rate(one kHz or more).

11. Cont..
Haptic rendering consists of three main blocks.
• Collision-detection algorithms
• ForcSe-response algorithms
• Control algorithms

12. Types of Haptic devices
Virtual reality/ Telerobotics based devices
• Exoskeletons and stationary devices
• Gloves and wearable devices
• Point sources and specific task devices
• Locomotion interfaces
Feedback devices
• Force feedback devices
• Tactile display devices

13. Phantom omni® haptic device
• Provides a 3D touch to the virtual objects.
• Six degree-of-freedom positional sensing.
• When the user move his finger, then
he could really feel the shape and size
of the virtual 3D object that
has been already programmed.
• Virtual 3D space in which the phantom operates is
called haptic scene.

14. CyberGrasp
With the CyberGrasp force feedback system, users are able to feel the
size and shape of computer-generated 3D objects in a simulated virtual
world.
• Force: 12 N per finger (max, continuous)
• Interface: Ethernet
• Allows 4 dof for each finger
• Adapted to different size of the fingers

15. Maglev Haptics
• Consists of two bowl shape objects, powered by
electromagnets.
• A joystick floats around with a tracking sensor
that relays its position back to a Linux
Fedora-powered computer.
• Users could interact with 3D shapes using
the joysticks.
• Moving the shapes back and forth between each hand,
getting feedback of the collision, and a feel for the volume
and weight of the objects.

16. Commercial applications
• Tactile electronic displays
• Teleoperators and simulators -
Medical simulators and flight simulators for pilot training.
• Video games - commonly used in arcade games,
especially racing video games
• Personal computers - Tactile Touchpad
• Mobile devices - vibration response to touch
• Virtual reality - 3D modeling and design

17. Research
Medicine
• Useful for training in minimally invasive procedures &
for performing remote surgery.
• Detection of medical problems via touch
• To provide essential feedback from a prosthetic limb to
its wearer.
• Investigating fundamental issues and determining
effectiveness for rehabilitation

18. Cont..
Robotics
• Convincing artificial humanoid (The Shadow Project)
• NASA's humanoid robots, or robonauts
• Virtual reality through touch
Arts and design
• Virtual arts, such as sound synthesis or graphic design
and animation.
• Real-time sound or images
• Physical modelling synthesis

19. Future applications
Holographic interaction
The feedback allows the user to interact with a hologram and
receive tactile responses as if the holographic object were real.
Future medical applications
• Telepresence surgery.
• Noise-based devices, such as randomly vibrating insoles,
could also ameliorate age-related impairments in balance
control.
• "spider-sense" bodysuit, equipped with ultrasonic
sensors and haptic feedback systems, which alerts the
wearer of incoming threats; allowing them to respond to
attackers even when blindfolded.

20. Advantages
• Working time is reduced.
• Communication is centered through touch and the digital
world can behave like the real world.
• Increase confidence in medical field.
• With haptic hardware and software designer can feel the
result as if he/she were handling physical objects.

21. Disadvantages
• Higher cost.
• Large weight & size.
• From point of algorithm, output is not saturate.
• The precision of touch require a lots of advance design.

22. Conclusion
• Touch plays a huge role in the way we perceive our
surroundings and also how we interact with them.
• Haptics technologies have come a long way in bringing
this technology into reality.
• Currently it is limited to consumers.
• Future generations of mobile devices and game console
accessories will implement more haptic feedback.
• Increasing applications of haptics the cost of the haptic
devices will drop in future.
• This technology brings us one step closer to virtual world.