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2. 2 Introduction to Haptics Design of kinesthetic/ force feedback haptic devices Allison M. Okamura Stanford University

3. 3 Course Objectives By the end of this course, you will be able to: Identify the primary mechanisms of human haptic sensing Describe applications of haptic devices Identify noticeable features of a haptic device design Program, and simulate haptic virtual environments with your haptic device Implement virtual environments to render various dynamics (e.g., stiffness, spring) Develop a new haptic device or application of a haptic device (extra option) Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Photographs by Megan Chiou 3

4. 4 Course Content Week 1 Introduction to haptic technology and human haptics. Hapkit mechanical design Hapkit mechatronics. Week 2 Modeling the physics of haptics. Mechanical characterization and coding Week 3 Programming virtual environments and simulation Stanford University Introduction to Haptics © Allison M. Okamura, 2013 4

5. 5 Weekly structure Videos, online quizzes, and laboratory assignments made available on ____, due the following ______ Grading 30% Quizzes and presentation 70% Laboratory assignments Stanford University Introduction to Haptics © Allison M. Okamura, 2013 5

6. 6 Haptic Technology Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Photographs by Jonathan Edelman 6

7. 7 Video: CHARM Lab Tour

8. 8 Have someone place several (not dangerous) household objects in a box Haptic Box Experiment Explore the objects using touch alone What was in there? How did you know? Stanford University Introduction to Haptics © Allison M. Okamura, 2013 ??? 8

9. 9 Tactual Stereognosis Tactual (tactile): via the sense of touch Stereognosis is the mental perception of three- dimensionality by the senses, usually in reference to perceiving the form of solid objects by touch. One study showed that subjects could identify 100 common objects almost perfectly, taking about 2 seconds per object. Klatzky et al., 1985 Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Photographs by Jonathan Edelman

10. 10 hap·tic ('hap-tik) adj. Of or relating to the sense of touch. [Greek haptikos, from haptesthai, to grasp, touch. (1890)] Temperature Texture Slip Vibration Force Cutaneous Location/configuration Motion Force Compliance Kinesthesia The haptic senses work together with the motor control system to: - Coordinate movement - Enable perception R. S. Johansson Stanford University Introduction to Haptics © Allison M. Okamura, 2013 10

11. 11 Touch is meaningful Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Emotion: Tactful, sensitive person, touching gesture Exploration: trace your steps, poke around, scratch the surface Contact: At one ’ s fingertips, touch base, keep in touch, pat on the back, on/at hand Constraint/Manipula tion: Get a grip, pressed for time, pushy, magic touch Surface Properties: Sticky situation, cool idea, abrasive personality, smooth operator 11

12. 12 Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Upload code Code to Haptic device Code Test haptic response 12

13. 13 Acknowledgement Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Some images in this presentation provided: With kind permission from Springer Science+Business Media: Neural Bases of Motor Behaviour, Sensory and Memory Information in the Control of Dexterous Manipulation, Volume 85, 1996, pp 205-260, R. S. Johansson, © 1996 Kluwer Academic Publishers 13 Haptics Demos Final Youtube V1 120413 1 | Readable. Dr. Allison Okamura. Perf. Dr. Allison Okamura, and graduate students from CHARM lab. Leland Stanford University, 2013. Film.

14. 14 Force-feedback vs. Tactile haptic devices Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Kinesthetic, or force- feedback, haptic devices display forces or motions through a tool Tactile haptic devices stimulate the skin single, resolved force distributed forces/ displacements 14

15. 15 Force-feedback vs. tactile haptic devices Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Tactile haptic devices can be wearable more easily vibration feedback element encased in glove Kinesthetic, or force- feedback, haptic devices are usually fixed force is transmitted from ground to hand motor 15

16. 16 Stanford University Introduction to Haptics © Allison M. Okamura, 2013 Force feedback device challenges want low mass, low friction (device should be “ dynamically transparent ” ) point-based interactions may be overly simple good-quality devices are expensive limited workspace size and actuation power no programmable tactile feedback 16