1. PERCROScuola Superiore S. Anna1 Tampere, February 16 th – 17 th 2006 6 th HAPTEX Meeting PERCRO Discussion: Specifications of the main Software Modules for each DL

2. PERCROScuola Superiore S. Anna2 Final Architecture Large Scale Model Small Scale Model Local Geometry Force on the Boundary of Local Geometry Fabric Geometry Large Scale Fabric Properties Database Small Scale Fabric Properties Database Scenario Viewer Screen FFD Fingers Position & Orientation Force Resultant TFD Tactile Renderer Finger dimensions & Mech Properties Database Fingers Geometry Force Distribution & Relative Velocity Deformed Geometry

3. PERCROScuola Superiore S. Anna3 WHI Development Approach WHI DL 1 WHI DL 3 WHI DL 4 WHI DL 5 Scenario 1 Scenario 2 Scenario 3 The fabric hangs from a stand, fixed at its upper edge. The user can rub and stretch it. The user can experience only force feedback. The fabric is fixed to a rigid flat support. The user can rub it. The user can experience only tactile feedback. The fabric hangs from a stand, fixed at its upper edge. The user can rub and stretch it. The user can experience both force and tactile feedback. Feb.06 Jun.06 Feb.06 May 06 Jul.06 Oct.06 Nov.06 Apr.07 May 07 Aug.07 Intermediate steps having increasing complexity 5 Development Levels (DL) WHI DL 2

4. PERCROScuola Superiore S. Anna4 WHI configuration User/fabric Interaction: FFD: Grounded Device (Configuration A) TA: Not Present Reference Scenario: SCENARIO 1 Feedbacks: Visual and Kinesthetic (NO Tactile) Possible Actions: Rub and Stretch using TWO fingers Reference Scenario 1 Integration Level “0”

5. PERCROScuola Superiore S. Anna5 Integration Level “0” Small Scale Model Local Geometry Force on the Boundary of Local Geometry Large Scale Fabric Properties Database Scenario Viewer Screen FFD Fingers Position Force Resultant Finger dimensions & Mech Properties Database LARGESCALEMODELLARGESCALEMODEL IN OUT IN OUT

6. PERCROScuola Superiore S. Anna6 Force Transmission through plates Sensorization of the Orientation of the finger Force Sensor to compensate the Inertia WHI configuration User/fabric Interaction: FFD: Two Grounded Device (Configuration A) TA: Not Present Reference Scenario 1 Reference Scenario: SCENARIO 1 Feedbacks: Visual and Kinesthetic (NO Tactile) Possible Actions: Rub and Stretch using TWO fingers. Integration Level 1

7. PERCROScuola Superiore S. Anna7 Small Scale Model Local Geometry Force on the Boundary of Local Geometry Large Scale Fabric Properties Database Scenario Viewer Screen FFD Fingers Position& ORIENTATION Force Resultant Finger dimensions & Mech Properties Database LARGESCALEMODELLARGESCALEMODEL Integration Level 1 IN OUT IN OUT

8. PERCROScuola Superiore S. Anna8 WHI configuration User/fabric Interaction: FFD: Not Present TA: Palmar Configuration (A) integrated on an ordinary Mouse Reference Scenario 2 Reference Scenario: SCENARIO 2 Feedbacks: Visual and Tactile (NO Kinesthetic) Possible Actions: Stroking a piece of fabric lying on a plane using ONE finger Integration Level 2

9. PERCROScuola Superiore S. Anna9 Integration Level 2 Planar Model of The Fabric Large Scale Fabric Properties Database Small Scale Fabric Properties Database Scenario Viewer Screen Mouse Fingers Position TFD Tactile Renderer Finger dimensions & Mech Properties Database Position and Velocities IN OUT

10. PERCROScuola Superiore S. Anna10 WHI configuration User/fabric Interaction: FFD: One Grounded Device TA: Palmar Configuration (A) Reference Scenario 2 Reference Scenario: SCENARIO 2 Feedbacks: Visual, Tactile and Kinesthetic Possible Actions: Stroking a piece of fabric lying on a plane using ONE finger. Integration Level 3

11. PERCROScuola Superiore S. Anna11 Integration Level 3 Large Scale Fabric Properties Database Small Scale Fabric Properties Database Scenario Viewer Screen FFD Fingers Position & Orientation Force Resultant TFD Tactile Renderer Finger dimensions & Mech Properties Database Fingers Geometry Force Distribution & Relative Velocity Planar Model of The Fabric IN OUT

12. PERCROScuola Superiore S. Anna12 WHI configuration User/fabric Interaction: FFD: Two Grounded Device TA: Dorsal Configuration (A) Reference Scenario 3 Reference Scenario: SCENARIO 3 Feedbacks: Visual, Kinesthetic and Tactile Possible Actions: Rub and Stretch using TWO fingers Integration Level 4

13. PERCROScuola Superiore S. Anna13 WHI configuration User/fabric Interaction: FFD: Portable Device TA: Dorsal Configuration (A) Reference Scenario 3 Reference Scenario: SCENARIO 3 Feedbacks: Visual, Kinesthetic and Tactile Possible Actions: Rub and Stretch using TWO fingers Integration Level 5

14. PERCROScuola Superiore S. Anna14 Integration Level 4-5 Large Scale Model Small Scale Model Local Geometry Force on the Boundary of Local Geometry Fabric Geometry Large Scale Fabric Properties Database Small Scale Fabric Properties Database Scenario Viewer Screen FFD Fingers Position & Orientation Force Resultant TFD Tactile Renderer Finger dimensions & Mech Properties Database Fingers Geometry Force Distribution & Relative Velocity Deformed Geometry