This document provides an introduction to haptics. It defines haptics as the ability to touch and manipulate objects, involving both tactile senses that provide awareness of stimuli on the body surface and kinesthetic senses that provide information about body movement. A haptic display is a mechanical device that transfers kinesthetic or tactile stimuli to the user. Haptics often refers to sensing and manipulating virtual objects in a computer-generated virtual reality environment using a haptic device. A haptic interface enables interaction with virtual or remote environments by measuring user input and displaying appropriate haptic feedback.
Haptic technology refers to technology that interfaces with users through the sense of touch. It allows the creation of virtual objects that can be controlled and manipulated. Haptic systems consist of human and machine parts, with the human sensing touch and the machine applying forces and motions. This emerging technology has applications in virtual reality, teleoperation, medicine, and more. It provides tactile and kinesthetic feedback to enhance user experience in virtual environments. Haptic devices measure user input and provide force feedback, allowing for bidirectional interaction between user and virtual world.
Project report (2003) - Using Flash MX Cursor-control component to enhance co...Amir Dotan
1. The document describes a Cursor-control component developed for Macromedia Flash MX to enhance computer interaction for motion-impaired users. It was inspired by studies showing that taking control of the cursor can reduce time for target selection tasks.
2. The component replaces the system cursor with a virtual cursor that it can control. When the virtual cursor detects proximity to a target, it centers on the target and changes shape for easier clicking.
3. Future work includes adding a mechanism to trigger clicks after time delays to assist users who have difficulty clicking targets. The component is intended to make point-and-click tasks easier for people with limited motor control.
Virtual reality: is the term that applies to computer simulated environment that can stimulate the physical presence in place of real world or imaginary world. All components of VR application and interrelations between them are thoroughly examined: input devices, output devices and software.This Paperwill show how to use Virtual Reality to increase the business productivity, application in health sector, entertainment industry, military sector and other sectors. The paper explain different types of virtual reality, architecture of the haptic devices methodologies of the devices, algorithm and conclusion of the research.
Virtual Reality Training for Upper Limb Prosthesis PatientsAnnette Mossel
Virtual reality training is proposed to help patients learn to use upper limb prosthetics. A system would allow training at home to improve control skills without risks. It aims to provide feedback during manufacturing to optimize fit. The system uses optical tracking of a head mounted display and arm target to control a virtual prosthetic hand in Unity. It demonstrates grasping objects. Future work includes testing with patients and developing games to enhance motivation.
This paper introduces a concept for transferring and manipulating objects between different interface contexts like AR and VR. It proposes using a virtual marker proxy to provide a bridge between the worlds. A prototype allows users to transfer objects between a Massively Multiplayer Online World and a desktop AR application. The virtual marker acts as an anchor for objects in the virtual world and provides a bridge into the AR environment. Users can transfer objects bidirectionally between the virtual marker and an AR contextual base using a transfer tool.
This document summarizes two mixed reality art projects - Promethean Alchemist and Terra(socio)sonica. Promethean Alchemist allows participants to manipulate DNA sequences in augmented reality, combining them to create new life forms. It explores ideas of translating between biological and computational codes. Terra(socio)sonica translates human movements in a physical space into soundscapes in both the physical world and a virtual Second Life environment. It aims to sonically represent social interactions and dialogues between participants. Both projects use interactive mixed reality systems to blur boundaries between real and virtual worlds in order to redefine concepts of embodiment, representation, and posthuman identity.
Computational intelligence systems in industrial engineeringSpringer
This document summarizes and compares different methods for aiding decision makers in selecting preferred solutions from large sets of Pareto optimal solutions in multi-objective optimization problems. It focuses on two main methods: 1) an a priori method called Guided Multi-Objective Genetic Algorithm (G-MOGA) and 2) an a posteriori method using subtractive clustering and fuzzy preference assignment. These methods are compared using a case study involving optimization of test intervals for components in a nuclear power plant safety system with objectives of availability, cost, and worker exposure. The document provides background on the case study problem and objectives before analyzing and comparing the different decision support methods.
Haptic technology refers to technology that interfaces with users through the sense of touch. It allows the creation of virtual objects that can be controlled and manipulated. Haptic systems consist of human and machine parts, with the human sensing touch and the machine applying forces and motions. This emerging technology has applications in virtual reality, teleoperation, medicine, and more. It provides tactile and kinesthetic feedback to enhance user experience in virtual environments. Haptic devices measure user input and provide force feedback, allowing for bidirectional interaction between user and virtual world.
Project report (2003) - Using Flash MX Cursor-control component to enhance co...Amir Dotan
1. The document describes a Cursor-control component developed for Macromedia Flash MX to enhance computer interaction for motion-impaired users. It was inspired by studies showing that taking control of the cursor can reduce time for target selection tasks.
2. The component replaces the system cursor with a virtual cursor that it can control. When the virtual cursor detects proximity to a target, it centers on the target and changes shape for easier clicking.
3. Future work includes adding a mechanism to trigger clicks after time delays to assist users who have difficulty clicking targets. The component is intended to make point-and-click tasks easier for people with limited motor control.
Virtual reality: is the term that applies to computer simulated environment that can stimulate the physical presence in place of real world or imaginary world. All components of VR application and interrelations between them are thoroughly examined: input devices, output devices and software.This Paperwill show how to use Virtual Reality to increase the business productivity, application in health sector, entertainment industry, military sector and other sectors. The paper explain different types of virtual reality, architecture of the haptic devices methodologies of the devices, algorithm and conclusion of the research.
Virtual Reality Training for Upper Limb Prosthesis PatientsAnnette Mossel
Virtual reality training is proposed to help patients learn to use upper limb prosthetics. A system would allow training at home to improve control skills without risks. It aims to provide feedback during manufacturing to optimize fit. The system uses optical tracking of a head mounted display and arm target to control a virtual prosthetic hand in Unity. It demonstrates grasping objects. Future work includes testing with patients and developing games to enhance motivation.
This paper introduces a concept for transferring and manipulating objects between different interface contexts like AR and VR. It proposes using a virtual marker proxy to provide a bridge between the worlds. A prototype allows users to transfer objects between a Massively Multiplayer Online World and a desktop AR application. The virtual marker acts as an anchor for objects in the virtual world and provides a bridge into the AR environment. Users can transfer objects bidirectionally between the virtual marker and an AR contextual base using a transfer tool.
This document summarizes two mixed reality art projects - Promethean Alchemist and Terra(socio)sonica. Promethean Alchemist allows participants to manipulate DNA sequences in augmented reality, combining them to create new life forms. It explores ideas of translating between biological and computational codes. Terra(socio)sonica translates human movements in a physical space into soundscapes in both the physical world and a virtual Second Life environment. It aims to sonically represent social interactions and dialogues between participants. Both projects use interactive mixed reality systems to blur boundaries between real and virtual worlds in order to redefine concepts of embodiment, representation, and posthuman identity.
Computational intelligence systems in industrial engineeringSpringer
This document summarizes and compares different methods for aiding decision makers in selecting preferred solutions from large sets of Pareto optimal solutions in multi-objective optimization problems. It focuses on two main methods: 1) an a priori method called Guided Multi-Objective Genetic Algorithm (G-MOGA) and 2) an a posteriori method using subtractive clustering and fuzzy preference assignment. These methods are compared using a case study involving optimization of test intervals for components in a nuclear power plant safety system with objectives of availability, cost, and worker exposure. The document provides background on the case study problem and objectives before analyzing and comparing the different decision support methods.
This document defines private equity and describes its structure and history. It can be summarized as follows:
Private equity includes venture capital and buyouts, with venture capital referring to early-stage companies and buyouts referring to more mature companies. Private equity investments are typically made through limited partnerships structured with a general partner and limited partners. The private equity industry emerged in the 1980s in the US, fueled by leveraged buyouts made possible by the junk bond market and a wave of corporate restructuring.
1) The document discusses generating random numbers with specified distributions for use in simulations and finance modeling.
2) It describes how linear congruential generators are commonly used to generate uniformly distributed random numbers by calculating values modulo a large integer.
3) Quality requirements for random number generators include having a long period before repeating, passing statistical tests for the desired distribution, and being uniformly distributed in multi-dimensional spaces without clustering along hyperplanes.
This document discusses psychological distress and psychiatric comorbidities in palliative care patients. It notes that palliative care aims to alleviate physical and psychological suffering to improve quality of life. It highlights common psychological needs like grief, concerns about life meaning and purpose, and spiritual distress that terminal patients experience. It emphasizes the importance of screening for and treating pathological states like depression that impair coping and function. Key impediments to addressing psychological needs are also outlined. Common psychiatric disorders seen in palliative care like depression, anxiety, and delirium are discussed. The challenges in accurately assessing prevalence rates are noted. A multimodal treatment approach including psychotherapy and pharmacotherapy is recommended depending on the patient's needs and symptoms.
This document summarizes research on molecular imaging of atherosclerosis. It discusses how molecular imaging can identify vulnerable atherosclerotic plaques by detecting plaque inflammation, apoptosis, and angiogenesis. Histopathological studies show vulnerable plaques have large necrotic cores, thin inflamed fibrous caps, and positive remodeling. Molecular imaging techniques like MRI, CT, and optical coherence tomography can characterize plaque components and inflammation noninvasively. Identifying vulnerable plaques could help prevent acute coronary events by allowing targeted prevention strategies.
1) Positron emission tomography (PET) has grown in prominence for medical imaging but suffers from several drawbacks including noisy attenuation maps from transmission scans, long scan durations, and lack of anatomical context.
2) The development of PET/CT scanners addressed these issues by using CT imaging for fast, low-noise attenuation correction mapping and by providing high-resolution anatomical images to fuse with PET images.
3) PET/CT scanners have significantly improved PET image quality and reduced scan times while also providing diagnostic CT imaging, improving patient scheduling and enabling accurate image fusion for improved diagnostic accuracy.
This document introduces the basic overlapping generations model of economic growth for a closed world economy. It consists of two generations that overlap - a young working generation and an old retired generation. Households maximize utility from consumption when young and old. Firms produce output using capital and labor according to a Cobb-Douglas production function. Capital accumulates through investment and depreciates over time. Labor and productivity grow at exogenous rates. The model aims to endogenously explain capital accumulation, output growth, and other macroeconomic variables over time based on intertemporal optimization by households and firms.
External fixation in orthopedic traumatologySpringer
This document discusses the principles of limb damage control orthopedics. It describes applying damage control principles used for polytrauma patients to extremities by correcting local metabolic issues, warming the limb, and controlling bleeding. Provisional skeletal stability is then achieved using external fixation. The most common injuries that benefit are mangled legs, which involve injuries to three of the four extremity systems (soft tissue, nerves, blood vessels, bone). Initial treatment is limb salvage with fixation and soft tissue management, or immediate amputation. Patient factors more than the injury itself determine outcomes. Specific external fixator applications described include full-length frames for segmental leg injuries, femoral shaft frames, and across-the-knee frames for injuries around
Haptic technology adds the sense of touch to virtual environments through haptic interfaces. This allows users to feel virtual objects on a computer through forces, vibrations, and motions. Haptic interfaces track user movements and apply forces through motors. Haptic rendering algorithms compute interaction forces between virtual objects and the user's movements in real-time. Applications include medical training simulations, remote robotics, virtual prototyping, and assisting those with disabilities.
The document discusses haptic technology, which uses tactile feedback to allow users to experience virtual objects through touch. It provides an overview of haptics, including how haptic systems work, different types of haptic devices, and applications in fields like virtual reality, robotics, medicine, and gaming. The document also outlines the history and future potential of haptics, such as for telepresence surgery or interactive holograms. Haptics brings the sense of touch to digital worlds and can increase realism, though challenges remain in precision and cost.
Haptic technology adds the sense of touch to virtual objects by providing haptic feedback to users. This allows users to feel and interact with virtual objects in a realistic manner. Haptic devices have sensors that detect touch and movement, processors that determine feedback, and actuators that provide vibrations or forces to simulate touching virtual objects. Haptic technology has applications in gaming, virtual reality, telepresence, training, and assisting blind users. It provides advantages like reduced work time and safer medical training, but development of high-precision haptic interfaces remains an area for improvement.
This document summarizes haptic technology, which uses tactile feedback to allow users to interact with virtual objects through touch. Haptic technology provides forces, vibrations and motions to simulate touch. It works by using haptic devices, transducers and rendering algorithms to detect collisions between virtual objects and calculate appropriate feedback. Haptic technology has applications in gaming, virtual education, and medical simulation to provide more realistic digital experiences.
this ppt is related to the human haptics ...
it is very helpful to the student to give the presentation on the topic haptics ....it is helpful to the college student for giving the presentation on haptics.. i recoment this to all the student to downloard the power point presentation and hit on the like botten
Haptics is the science of applying touch and force feedback to human interaction with virtual environments. It allows users to feel virtual objects through haptic devices that provide tactile and force feedback. This improves realism and the sense of touch in applications like virtual reality, simulations, video games, and remote robotics. Current research focuses on advancing haptics technology to enable feeling of holograms, distant objects, and applications in fields like gaming, movies, manufacturing, and medicine.
Haptics is the science of applying touch (tactile) sensation and control to interact with computer applications. Haptic device gives people a sense of touch with computer generated environments, so that when virtual objects are touched, they seem real and tangible. Haptic technology refers to technology that interfaces the user with a virtual environment via the sense of touch by applying forces, vibrations, and/or motions to the user. This mechanical stimulation may be used to assist in the creation of virtual objects (objects existing only in a computer simulation), for control of such virtual objects, and to enhance the remote control of machines and devices. This paper includes how haptic technology works, about its devices, its technologies, its applications, future developments and disadvantages.
Haptic Technology- Interaction with Virtualityvivatechijri
The document discusses haptic technology, which uses tactile feedback to allow users to interact with virtual objects. It begins by defining haptics and describing how it enhances features of virtual reality like immersion and interaction. It then explains how haptic devices work by applying forces, pressures, or vibrations using actuators. Common haptic devices like the Phantom and CyberGrasp are described. The document outlines several applications of haptics in fields like virtual reality, surgical simulation, mobile phones, and wearable devices. It concludes by discussing the future of haptics, including its growing role in medical training through virtual reality and a shift toward more digital controls using haptic feedback.
The document discusses haptics technology and the Phantom haptic device. Haptics allows users to touch and feel virtual objects through force feedback from haptic devices. The Phantom was one of the first haptic devices that provided three degrees of freedom and allowed users to interact with virtual 3D objects through tactile and force feedback. Today, haptics is used in various applications including virtual reality, telepresence, games, and more to provide a more realistic experience through the sense of touch.
Haptics technology uses tactile feedback to allow users to touch and feel virtual objects. It works by using haptic devices, which may provide tactile feedback through vibrations or force feedback to simulate weight and resistance. Common haptic devices include Phantom devices, which provide 3D touch feedback of virtual objects, and CyberGrasp systems, which add force feedback to each finger. Haptics have applications in video games, computers, robotics, and more. While the technology provides realistic feedback, haptic devices still have limitations like high costs, size, and limited force magnitudes. Future developments could include holographic interactions and medical applications using remote robotics.
Haptics is a technology that adds the sense of touch to interactions with virtual objects by connecting user movements and actions to corresponding computer-generated feedback such as forces, vibrations, and motions. This allows virtual objects to seem real and tangible to the user. Haptics links the brain's sensing of body position and movement through sensory nerves to provide an immersive experience when interacting with virtual environments and simulated objects.
Haptic technology allows users to feel and interact with virtual objects through touch. It combines tactile (touch) and kinesthetic (motion) feedback to simulate real textures and sensations. Common haptic devices include Phantom devices, which allow users to touch 3D virtual objects, and cyber gloves, which provide force feedback to fingers. Haptic technology has applications in gaming, mobile devices, assistive technologies, medical training, and more. However, challenges remain in matching the high performance of human touch and reducing the size and cost of haptic interfaces.
This document describes the components of a generic virtual reality system. It discusses the four main systems: the virtual environment, computer environment, VR technology, and modes of interaction. It provides details on the virtual environment components like virtual objects, lights, animation, physical simulation, level of detail and collision detection. It also describes the computer environment components like the processor, I/O channels, VE database and real-time operating system. Finally, it discusses the hardware used for VR technology like head tracking, image display, sound and haptics as well as interaction modes like gestures and interfaces.
This presentation is about the basic haptic technology. what it is? how it works?? & what are the terms we need to know to make full understanding of this technology.
Haptics is the science of touch and haptic feedback. It allows users to touch and feel virtual objects through haptic devices. Haptic devices provide tactile and force feedback to users, simulating sensations like texture, weight, and resistance. This enhances virtual and remote experiences and has applications in gaming, virtual reality, surgery simulation, and telepresence. The goal is to use haptics to fully simulate real world touch interactions and take virtual reality beyond just visual and auditory experiences.
This document defines private equity and describes its structure and history. It can be summarized as follows:
Private equity includes venture capital and buyouts, with venture capital referring to early-stage companies and buyouts referring to more mature companies. Private equity investments are typically made through limited partnerships structured with a general partner and limited partners. The private equity industry emerged in the 1980s in the US, fueled by leveraged buyouts made possible by the junk bond market and a wave of corporate restructuring.
1) The document discusses generating random numbers with specified distributions for use in simulations and finance modeling.
2) It describes how linear congruential generators are commonly used to generate uniformly distributed random numbers by calculating values modulo a large integer.
3) Quality requirements for random number generators include having a long period before repeating, passing statistical tests for the desired distribution, and being uniformly distributed in multi-dimensional spaces without clustering along hyperplanes.
This document discusses psychological distress and psychiatric comorbidities in palliative care patients. It notes that palliative care aims to alleviate physical and psychological suffering to improve quality of life. It highlights common psychological needs like grief, concerns about life meaning and purpose, and spiritual distress that terminal patients experience. It emphasizes the importance of screening for and treating pathological states like depression that impair coping and function. Key impediments to addressing psychological needs are also outlined. Common psychiatric disorders seen in palliative care like depression, anxiety, and delirium are discussed. The challenges in accurately assessing prevalence rates are noted. A multimodal treatment approach including psychotherapy and pharmacotherapy is recommended depending on the patient's needs and symptoms.
This document summarizes research on molecular imaging of atherosclerosis. It discusses how molecular imaging can identify vulnerable atherosclerotic plaques by detecting plaque inflammation, apoptosis, and angiogenesis. Histopathological studies show vulnerable plaques have large necrotic cores, thin inflamed fibrous caps, and positive remodeling. Molecular imaging techniques like MRI, CT, and optical coherence tomography can characterize plaque components and inflammation noninvasively. Identifying vulnerable plaques could help prevent acute coronary events by allowing targeted prevention strategies.
1) Positron emission tomography (PET) has grown in prominence for medical imaging but suffers from several drawbacks including noisy attenuation maps from transmission scans, long scan durations, and lack of anatomical context.
2) The development of PET/CT scanners addressed these issues by using CT imaging for fast, low-noise attenuation correction mapping and by providing high-resolution anatomical images to fuse with PET images.
3) PET/CT scanners have significantly improved PET image quality and reduced scan times while also providing diagnostic CT imaging, improving patient scheduling and enabling accurate image fusion for improved diagnostic accuracy.
This document introduces the basic overlapping generations model of economic growth for a closed world economy. It consists of two generations that overlap - a young working generation and an old retired generation. Households maximize utility from consumption when young and old. Firms produce output using capital and labor according to a Cobb-Douglas production function. Capital accumulates through investment and depreciates over time. Labor and productivity grow at exogenous rates. The model aims to endogenously explain capital accumulation, output growth, and other macroeconomic variables over time based on intertemporal optimization by households and firms.
External fixation in orthopedic traumatologySpringer
This document discusses the principles of limb damage control orthopedics. It describes applying damage control principles used for polytrauma patients to extremities by correcting local metabolic issues, warming the limb, and controlling bleeding. Provisional skeletal stability is then achieved using external fixation. The most common injuries that benefit are mangled legs, which involve injuries to three of the four extremity systems (soft tissue, nerves, blood vessels, bone). Initial treatment is limb salvage with fixation and soft tissue management, or immediate amputation. Patient factors more than the injury itself determine outcomes. Specific external fixator applications described include full-length frames for segmental leg injuries, femoral shaft frames, and across-the-knee frames for injuries around
Haptic technology adds the sense of touch to virtual environments through haptic interfaces. This allows users to feel virtual objects on a computer through forces, vibrations, and motions. Haptic interfaces track user movements and apply forces through motors. Haptic rendering algorithms compute interaction forces between virtual objects and the user's movements in real-time. Applications include medical training simulations, remote robotics, virtual prototyping, and assisting those with disabilities.
The document discusses haptic technology, which uses tactile feedback to allow users to experience virtual objects through touch. It provides an overview of haptics, including how haptic systems work, different types of haptic devices, and applications in fields like virtual reality, robotics, medicine, and gaming. The document also outlines the history and future potential of haptics, such as for telepresence surgery or interactive holograms. Haptics brings the sense of touch to digital worlds and can increase realism, though challenges remain in precision and cost.
Haptic technology adds the sense of touch to virtual objects by providing haptic feedback to users. This allows users to feel and interact with virtual objects in a realistic manner. Haptic devices have sensors that detect touch and movement, processors that determine feedback, and actuators that provide vibrations or forces to simulate touching virtual objects. Haptic technology has applications in gaming, virtual reality, telepresence, training, and assisting blind users. It provides advantages like reduced work time and safer medical training, but development of high-precision haptic interfaces remains an area for improvement.
This document summarizes haptic technology, which uses tactile feedback to allow users to interact with virtual objects through touch. Haptic technology provides forces, vibrations and motions to simulate touch. It works by using haptic devices, transducers and rendering algorithms to detect collisions between virtual objects and calculate appropriate feedback. Haptic technology has applications in gaming, virtual education, and medical simulation to provide more realistic digital experiences.
this ppt is related to the human haptics ...
it is very helpful to the student to give the presentation on the topic haptics ....it is helpful to the college student for giving the presentation on haptics.. i recoment this to all the student to downloard the power point presentation and hit on the like botten
Haptics is the science of applying touch and force feedback to human interaction with virtual environments. It allows users to feel virtual objects through haptic devices that provide tactile and force feedback. This improves realism and the sense of touch in applications like virtual reality, simulations, video games, and remote robotics. Current research focuses on advancing haptics technology to enable feeling of holograms, distant objects, and applications in fields like gaming, movies, manufacturing, and medicine.
Haptics is the science of applying touch (tactile) sensation and control to interact with computer applications. Haptic device gives people a sense of touch with computer generated environments, so that when virtual objects are touched, they seem real and tangible. Haptic technology refers to technology that interfaces the user with a virtual environment via the sense of touch by applying forces, vibrations, and/or motions to the user. This mechanical stimulation may be used to assist in the creation of virtual objects (objects existing only in a computer simulation), for control of such virtual objects, and to enhance the remote control of machines and devices. This paper includes how haptic technology works, about its devices, its technologies, its applications, future developments and disadvantages.
Haptic Technology- Interaction with Virtualityvivatechijri
The document discusses haptic technology, which uses tactile feedback to allow users to interact with virtual objects. It begins by defining haptics and describing how it enhances features of virtual reality like immersion and interaction. It then explains how haptic devices work by applying forces, pressures, or vibrations using actuators. Common haptic devices like the Phantom and CyberGrasp are described. The document outlines several applications of haptics in fields like virtual reality, surgical simulation, mobile phones, and wearable devices. It concludes by discussing the future of haptics, including its growing role in medical training through virtual reality and a shift toward more digital controls using haptic feedback.
The document discusses haptics technology and the Phantom haptic device. Haptics allows users to touch and feel virtual objects through force feedback from haptic devices. The Phantom was one of the first haptic devices that provided three degrees of freedom and allowed users to interact with virtual 3D objects through tactile and force feedback. Today, haptics is used in various applications including virtual reality, telepresence, games, and more to provide a more realistic experience through the sense of touch.
Haptics technology uses tactile feedback to allow users to touch and feel virtual objects. It works by using haptic devices, which may provide tactile feedback through vibrations or force feedback to simulate weight and resistance. Common haptic devices include Phantom devices, which provide 3D touch feedback of virtual objects, and CyberGrasp systems, which add force feedback to each finger. Haptics have applications in video games, computers, robotics, and more. While the technology provides realistic feedback, haptic devices still have limitations like high costs, size, and limited force magnitudes. Future developments could include holographic interactions and medical applications using remote robotics.
Haptics is a technology that adds the sense of touch to interactions with virtual objects by connecting user movements and actions to corresponding computer-generated feedback such as forces, vibrations, and motions. This allows virtual objects to seem real and tangible to the user. Haptics links the brain's sensing of body position and movement through sensory nerves to provide an immersive experience when interacting with virtual environments and simulated objects.
Haptic technology allows users to feel and interact with virtual objects through touch. It combines tactile (touch) and kinesthetic (motion) feedback to simulate real textures and sensations. Common haptic devices include Phantom devices, which allow users to touch 3D virtual objects, and cyber gloves, which provide force feedback to fingers. Haptic technology has applications in gaming, mobile devices, assistive technologies, medical training, and more. However, challenges remain in matching the high performance of human touch and reducing the size and cost of haptic interfaces.
This document describes the components of a generic virtual reality system. It discusses the four main systems: the virtual environment, computer environment, VR technology, and modes of interaction. It provides details on the virtual environment components like virtual objects, lights, animation, physical simulation, level of detail and collision detection. It also describes the computer environment components like the processor, I/O channels, VE database and real-time operating system. Finally, it discusses the hardware used for VR technology like head tracking, image display, sound and haptics as well as interaction modes like gestures and interfaces.
This presentation is about the basic haptic technology. what it is? how it works?? & what are the terms we need to know to make full understanding of this technology.
Haptics is the science of touch and haptic feedback. It allows users to touch and feel virtual objects through haptic devices. Haptic devices provide tactile and force feedback to users, simulating sensations like texture, weight, and resistance. This enhances virtual and remote experiences and has applications in gaming, virtual reality, surgery simulation, and telepresence. The goal is to use haptics to fully simulate real world touch interactions and take virtual reality beyond just visual and auditory experiences.
Haptic technology, or haptics, refers to technology that connects users to computer systems through touch by applying forces, vibrations, and motions. It is used in teleoperators and simulators to provide force feedback, computer and video games to enhance the gaming experience, mobile devices to provide tactile feedback, medicine to aid surgeons, and robotics to allow operators to control remote robots. Haptics allows teleoperators to investigate dangerous substances remotely, simulators to provide realistic training, games to simulate experiences like driving, mobile phones to provide click feedback, surgeons to perform operations more efficiently, and teleoperators to control robots with a sense of touch.
Haptic technology, or haptics, refers to technology that connects users to computer systems through touch by applying forces, vibrations, and motions. It is used in teleoperators and simulators to provide force feedback, computer and video games to enhance the experience, mobile devices to provide tactile feedback, medicine to aid in surgery and reduce fatigue, and robotics to allow operators to control robots from a distance and gain a sense of touch. Haptics plays a major role in telepresence systems by allowing operators to receive audio, visual, and tactile cues from the robot's environment.
Haptic technology, or haptics, refers to technology that connects users to computer systems through touch by applying forces, vibrations, and motions. It is used in teleoperators and simulators to provide force feedback, computer and video games to enhance the experience, mobile devices to provide tactile feedback, medicine to aid in surgery and reduce fatigue, and robotics to allow operators to control robots from a distance and gain a sense of touch. Haptics plays a major role in telepresence systems by allowing operators to receive audio, visual, and tactile cues from the robot's environment.
“HAPTICS”-- a technology that adds the sense of touch to a virtual environment. Haptic interfaces allow the user to feel as well as to see virtual objects on a computer, and so we can give an illusion of touching surfaces, shaping virtual clay, or moving objects around. The sensation of touch is the brain’s most effective learning mechanism --more effective than seeing or hearing which is why the new technology holds so much promise as a teaching tool. Haptic technology is like exploring the virtual world with a stick.
Haptics technology interfaces users with virtual environments through touch by applying forces and vibrations. This adds the sense of touch to virtual objects and environments. Haptic devices provide tactile and force feedback to users, allowing them to touch and feel virtual objects. This feedback enhances virtual reality and teleoperation applications like virtual surgery, military training, and more. Haptics is key to fully immersing users in virtual worlds through the sense of touch.
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The chemistry of the actinide and transactinide elements (set vol.1 6)Springer
Actinium is the first member of the actinide series of elements according to its electronic configuration. Actinium closely resembles lanthanum chemically. The three most important isotopes of actinium are 227Ac, 228Ac, and 225Ac. 227Ac is a naturally occurring isotope in the uranium-actinium decay series with a half-life of 21.772 years. 228Ac is in the thorium decay series with a half-life of 6.15 hours. 225Ac is produced from 233U with applications in medicine.
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This document provides an overview of computational studies of palladium-mediated allylic substitution reactions. It discusses the history and development of quantum mechanical and molecular mechanical methods used to study the structures and reactivity of allyl palladium complexes. In particular, density functional theory methods like B3LYP have been widely used to study reaction mechanisms and factors controlling selectivity. Continuum solvation models have also been important for properly accounting for reactions in solvent.
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2. 36 2 Introduction to Haptics
immersion that otherwise would not have been possible. The inability to touch and
feel objects, either in a real or a virtual environment, impoverishes and significantly
affects the human ability of interaction with the environment [1].
A haptic interface is a device that enables interaction with virtual or physically
remote environments [2, 3]. It is used for tasks that are usually performed by hand
in the real world, such as manipulating objects and exploring their properties. In
general, a haptic interface receives motor commands from the user and displays the
appropriate haptic image back to the user. Haptic interactions may be augmented
with other forms of stimuli such as stimulation of visual or auditory senses.
Although haptic devices are typically designed for interaction with the hand,
there are a number of alternative options that are appropriate for sensory and motor
properties of other parts of the body. In general, a haptic interface is a device that:
(1) measures position or contact force (and/or their time derivatives and spatial dis-
tribution) and (2) displays contact force or position (and/or their spatial and time
distribution) to the user.
Figure 2.1 shows a block diagram of a typical haptic system. A human operator
is included in the haptic loop through a haptic interface. The operator interacts with
a haptic interface either through force or movement. The interface measures human
activity. The measured value serves as a reference input either to a teleoperation
system or a virtual environment. A teleoperation system is a system in which a usu-
ally remote slave robot accomplishes tasks in the real environment that the human
operator specifies using the haptic interface. Interaction with a virtual environment is
similar, except that both the slave system and the objects manipulated by it are part of
the programmed virtual environment. Irrespective of whether the environment is real
or virtual, control of the slave device is based on a closed loop system that compares
the output of the haptic interface to the measured performance of the slave system.
The essence of haptic interaction is the display of forces or movements, which are
the result of the operation of the slave system, back to the user through the haptic
interface. Therefore, it is necessary to measure forces and movements that occur
in teleoperation or compute forces and movements that are the result of interaction
with a virtual environment. Since force may be a result of movement dynamics or
interactions of an object with other objects or with the slave system, collision detec-
tion represents a significant part of the haptic loop. As already mentioned, contact
can occur either between objects in the environment (real or virtual) or between an
object and the slave system. Collision detection in a real environment is relatively
straightforward and is essentially not much more than the measurement of interaction
forces between the robot and its surroundings. In contrast, collision detection in a
virtual environment is a more complex task since it requires computation of contact
between virtual objects that can be modeled using different methods. In this case, it
is necessary to compute multiple contacts between outside surfaces of objects.
Collision detection forms the basis for computation of reaction forces. In a teleop-
eration system, force is measured directly using a force/torque sensor mounted on the
slave robot end-effector. In a virtual environment, on the other hand, it is necessary
to compute the contact force based on a physical model of the object. The object
stiffness can, for example, be modeled as a spring-damper system, while friction can
3. 2.1 Definition of Haptics 37
Teleoperation system
Slave Real
system environment
Control
of slave
system
rce (veloc Virtual environment
Fo ity
and slave system
Human )
HAPTIC Virtual reality
INTERFACE
)
Vel rce
ocity (fo
Control of Collision Collision
haptic rendering detection
interface
Fig. 2.1 Haptic system: interaction between a human and the haptic interface represents a bidi-
rectional exchange of information—a human operator controls the movement of a slave system as
well as receives information about the forces and movements of the slave system through the haptic
interface
be modeled as a force that is tangential to the surface of the object and proportional
to the normal force to the surface of the object. The computed or measured force
or displacement is then transmitted to the user through the haptic interface. A local
feedback loop controls the movement of the haptic interface, so that it corresponds
to the measured or computed value.
From the block scheme in Fig. 2.1, it is clear that the interaction between a human
and the haptic interface represents a bidirectional exchange of information—a human
operator controls the movement of a slave system as well as receives information
about the forces and movements of the slave system through the haptic interface. The
product of force and displacement represents mechanical work accomplished during
the haptic interaction. Bidirectional transfer of information is the most characteristic
feature of haptic interfaces compared to display of audio and visual images.
2.2 Haptic Applications
The need for an active haptic interface depends on task requirements. Active haptic
interfaces are a must for certain tasks. A lot of assembly and medical problems are
haptic by their nature. Haptic devices are required for simulating such tasks for train-
ing purposes, since perception of force, which is the result of the interaction of a tool
with the environment, is critical for successful task completion. In addition, haptic
devices allow persons with vision impairments to interact with virtual environments.
Haptic devices can improve user immersion. Simple haptic devices with fewer
active degrees of freedom are produced in large quantities for entertainment purposes
(playing video games). Although the complexity of stimuli that may be transmitted
to the user is limited, perception of the virtual environment is still relatively precise.
Haptic devices can improve the efficiency of task execution by providing nat-
ural constraints (virtual fixtures). In virtual environments, transfer of virtual objects
without haptic perceptions is often difficult. Without feedback information about
contact forces, simulation of an assembly task requires a great deal of attention due
4. 38 2 Introduction to Haptics
to reliance on visual feedback only. Haptic devices represent a suitable solution since
they reduce the need for visual attention. Force feedback substantially contributes to
accuracy of estimation of spatial information.
Haptic devices may reduce complexity of information exchange. In contrast to
display of visual and audio images, haptic devices do not clutter the environment with
unnecessary information. Haptic devices are connected to a single person. A haptic
interface provides only the necessary information to the right person at the right time.
A haptic interface forms an integral part of a teleoperation system, where the
haptic display is used as a master device. The haptic interface conveys command
information from the operator to the slave device and provides feedback information
about the interaction between the slave manipulator and the environment back to the
operator.
2.3 Terminology
The terminology is defined as in [4].
A haptic display is a mechanical device designed for transfer of kinesthetic
or tactile stimuli to the user. Haptic displays differ in their kinematic structure,
workspace and output force. In general, they can be divided into devices that measure
movement and display force and devices that measure force and display movement.
The former are called impedance displays, while the latter are called admittance
displays. Impedance displays typically have small inertia and are backdrivable.
Admittance displays typically have much higher inertia, are not backdrivable and
are equipped with a force and torque sensor.
A haptic interface comprises everything between the human and the virtual envi-
ronment. A haptic interface always includes a haptic display, control software and
power electronics. It may also include a virtual coupling that connects the haptic
display to the virtual environment. The haptic interface enables exchange of energy
between the user and the virtual environment and it is, therefore, important in the
analysis of stability as well as efficiency.
A virtual environment is a computer generated model of a real environment. A
virtual environment can be constructed as an exact replica of the real environment
or can be a highly simplified reality. Regardless of its complexity, however, there are
two completely different ways of interaction between the environment and the haptic
interface. Environment may behave as impedance, where the input is the velocity
or position and the output force is determined based on a physical model, or as an
admittance, where the input is force and the output is velocity or position.
A haptic simulation is a synthesis of a user, haptic interface and a virtual
environment. All these elements are important for stability of the system. Simulation
includes continuous time elements, such as a human and a mechanical device, as
well as discrete elements, such as a virtual environment and control software.
Mechanical impedance is an analogy to electrical impedance. It is defined as the
ratio between force and velocity (torque and angular velocity)—an analogy of the
5. 2.3 Terminology 39
ratio between voltage and current in electrical circuits:
F k
Z (s) = = ms + b + , (2.1)
v s
where m is mass, b is a viscous damping and k is stiffness. Mechanical impedance is
often defined as the ratio between force and position (displacement). This definition
is related to the second-order differential equation that describes the mechanical
system as
F = m x + b x + kx.
¨ ˙ (2.2)
In this case, impedance is defined as
F
Z (s) = = ms 2 + bs + k. (2.3)
x
Mechanical admittance represents an analogy to electrical admittance and is
defined as the ratio of the velocity and force (angular velocity and torque)—an
analogy of the ratio between current and voltage:
v 1
Y (s) = = , (2.4)
F ms + b + k
s
where m is the mass, b is the viscous damping and k is the stiffness. Similarly
to mechanical impedance, admittance is also often defined as the ratio of position
(displacement) and force
x 1
Y (s) = = 2 + bs + k
. (2.5)
F ms
Causal structure is defined by the combination of the type of haptic display
(impedance or admittance) and the virtual environment (impedance or admittance),
giving a total of four possible combinations.
References
1. Minsky, M., Ouh-Young, M., Steele, O., Jr., F.B., Behensky, M.: Feeling and seeing: issues in
force display. Computer Graphics, vol. 24, pp. 235–443. ACM Press, New York (1990)
2. Barfield, W., Furness, T.A.: Virtual Environments and Advanced Interface Design. Oxford Uni-
versity Press, New York (1995)
3. Duke, D., Puerta, A.: Design, Specifications and Verification of Interactive Systems. Springer,
Wien (1999)
4. Addams, R.J., Hannaford, B.: Stable haptic interaction with virtual environments. IEEE Trans.
Robot. Autom. 15, 465–474 (1999)