1 haptic interfaces. 2 haptics is the study of human touch and interaction with the external...
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Haptic Interfaces
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Haptics is the study of human touch and interaction with the external environment via touch.
Haptic interfaces are a class of human computer interaction (HCI) devices that predominantly appeal to this particular sensory modality.
Touch is unique as a human sense in that it can be used to gather information regarding the external environment and also to interact with it.
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'the sensibility of the individual to the world adjacent to his body by the use of his body‘
Geldard
A Haptic Interface is a device that allows a computer to recreate the sense of touch for the users of a Virtual Reality environment.
The word 'haptic' is derived from the Greek
"haptesthai" meaning "to touch," .
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Haptic interfaces devices are useful for tasks where visual information is not sufficient and may include unacceptable manipulation errors.
Haptic interfaces are defined as those that allow both "input" and "output" with the simulated environment.
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A typical device will take the form of a framework with one or more degrees of freedom (DOF), usually allowing exploration of a 3D workspace.
giving the user the illusion of hard contact with a surface.
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Teleoperation
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Interfaces Virtuales
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Interfaces Virtuales(2)
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Manipulación de cubo virtual
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Manipulación de una pelota
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Secuencia cambio de herramientas
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MECANISMO Y MÉTODOS DE RESPUESTA DEL TACTO
Sensibilidad Somática
Proprioception
-Mecánoreceptores (articulaciones esqueléticas).
-Músculos.
Los receptores del cuerpo humano que perciben el movimiento y la posición son:
- Terminaciones de los Nervios libres.
- Corpúsculos Ruffini y Pacinian.
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Receptores de la piel
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MECANISMO Y MÉTODOS DE RESPUESTA DEL TACTO
Sensibilidad Somática
Sensibilidad de la fuerza
Mecánoreceptores de los músculos.
Sensibilidad de la piel.
Mecánoreceptores
Térmoreceptores
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MECANISMO Y MÉTODOS DE RESPUESTA DEL TACTO
Proprioception y Force Display
Para la Visualización de la fuerza se utiliza un dispositivo mecánico que genéra una reacción a una fuerza aplicada a un objeto virtual.
Exoskeleton Force Display
Un exoskeleton es un sistema de sensores
pegados a la mano.
Tool-Handling Force Display
Su sonfiguración es simialar aun Joystick.
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MECANISMO Y MÉTODOS DE RESPUESTA DEL TACTO
Proprioception y Force Display
Object-Oriented Force Display
Estos dispositivos mueven o deforman objetos virtuales para simular sus formas.
Passive Props
La fuerza aplicada por el usuario es medida y conesta es determinada la deformación del objeto virtual.
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MECANISMO Y MÉTODOS DE RESPUESTA DEL TACTO
Proprioception y Full-Body Haptics
La fuerza aplicada en todo el cuerpo es un importante factor en el movimiento del cuerpo.
Sliding Device
El usario camina atravéz de una barra deslisable y con esto se crea una imagen de un espacio virtual.
Caminadora
Simula la cuesta de un terreno virtual y aplica fuerza gravitacional al usuario.
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MECANISMO Y MÉTODOS DE RESPUESTA DEL TACTO
Proprioception y Full-Body Haptics
Almohadilla de pie
Utiliza controladores que son puestos en le pie del usario y estos simulan la viscocidad de la tierra.
Dispositivo de pedaleo
Reconocimiento de gestos al caminar
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MECANISMO Y MÉTODOS DE RESPUESTA DEL TACTO
Sensibilidad de la piel y Tactile Display
Se utilizan objetos virtuales con texturas muy pequeñas para estimular a la piel y así se pueda observar las formas de reacción de ésta a diferentes tipos de texturas.
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Ejemplo de tactile display
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Tecnologías “finger-Hand Hapticsfinger-Hand Haptics”
Tipo Exoskeleton:
Finger-Hand
PEN-Based
Interfaz “Haptic” Orientado a objetos
FEELEX 1
FEELEX 2
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Tecnologías “finger-Hand Hapticsfinger-Hand Haptics”
Desventajas del Finger-Hand:
Tiene un espacio de trabajo muy reducido
Carece de fricciónMuy complicado Depende de actuadores
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Ejemplos Exoskeleton
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““Finger-Hand”Finger-Hand”
Actuadores
triangulos
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““Finger-Hand”Finger-Hand”
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Tecnologías “finger-Hand Hapticsfinger-Hand Haptics”
Ventajas de PEN-Hand:
Las personas están familiarizadas con las plumas.
Es mas fácil de usarLa pluma es libre de los actuadores
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Como Funciona???
paralelo
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““PEN-Based”PEN-Based”
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Tecnologías“HapticHaptic” Orientado a objetos
Parecido Finger-Hand y PEN-BasedLa interfaz permite al usuario tocar el
mundo virtual en un simple punto
Ventaja con OO:
-Te tener permite tener sensibilidad (poder sentir al objeto virtual)
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Tecnologías“HapticHaptic” Orientado a objetos
Sus desventajas:
Es muy difícil que lo entiendan las personas de mayor edad
utiliza muchos actuadoreses muy robusto el diseñomuy pequeño el espacio de trabajoUna pared sólida es muy difícil de
simular
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Tecnologías“HapticHaptic” Orientado a objetos
Ventajas:
puedes sentir el objeto virtual
hace mas amena la interacción
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Feellex
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Tecnologías“HapticHaptic” Orientado a objetos
Componentes:
De una pantalla flexibleProyectorUn arreglo de actuadores que simulan
la forma del objeto virtual
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Tecnologías“HapticHaptic” Orientado a objetos
Como funciona:Los actuadores convierten la forma de
la imagen en 2d visualizada en la pantalla, en un objeto palpable
Todo esto relacionado con la medición de la posición de la pantalla con la mano
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Tecnologías“HapticHaptic” Orientado a objetos
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Feelex 2
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Ejemplos de aplicación
Medicina:Este tipo de tecnología se ha
implementado en la medicina.
Modelo de objetos 3D
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Tecnologías “Haptics” de Cuerpo Completo
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Interfaz de Locomoción Basada en “Treadmill”
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Interfaz Basada en “Treadmill”Principio: Hacer que la interfaz se mueva en
sentido contrario del usuario.Problema: Diseñar un método que permita al
usuario cambiar de dirección.Requerimientos: Usuarios y actuadores deben estar fuera de
la superficie. Área del caminador debe ser superficie plana. Superficie hecha de material poco estirable.
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Mecanismo y Funcionamiento Grupo de cinturones conectados entre sí. 20 “treadmills” conectados lado a lado en
forma perpendicular. 20 “treadmills” conectados a 4 cadenas y
montados en 4 rieles. Cada “tredmill” cuenta con su motor de 200W Máxima velocidad de rotación de 1.2m/s Máxima aceleración de 10m/s² Máxima frecuencia de 0.8Hz.
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Interfaz Basada en “Treadmill”
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Interfaz de Locomoción Basada en “Foot - Pad”
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Métodos de Presentación de una superficie desigual
Mayores investigaciones.Frecuentemente aplicadas en simulación de
edificios y espacios urbanos.Sensación de subir y bajar escaleras.Funcionamiento: Cuando el usuario pisa hacia delante el
ángulo de “pitch” y la posición vertical incrementa.
Cuando el usuario pisa hacia delante para bajar el ángulo de “pitch” y la posición vertical decrementa.
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Diseño Básico de un “Gait–Master”
Interfaz que simula una superficie desigual omni-direccional.
Elementos Básicos: dos 6 DOF montados en una tabla.
Cada elemento base es controlado para que pueda trazar la posición del pie.
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Algoritmo de Control del “Gait-Master”
Para mantener la posición las plataformas de movimiento tienen que cancelar el movimiento de los pies.
La cancelación es como sigue:- Asumir que el pie derecho está en la posición de adelante y
el pie izquierdo en la posición trasera mientras camina- Cuando el usuario pisa hacia enfrente con el pie izquierdo
su peso es desplazado hacia el pie derecho.- La plataforma del pie derecho regresa acorde con el
desplazamiento del pie izquierdo, así la posición central es mantenida.
- La plataforma del pie izquierdo sigue la posición del pie izquierdo. Cuando el usuario termina de pisar hacia enfrente, la plataforma soporta el pie izquierdo.
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APLICACIONES PARA HAPTIC INTERFACE
Aplicaciones para Finger-Hand Haptics
- Medicina
- Modelado de Formas tridimencionales
- Interfaz usando Haptic
- ArteAplicaciones para Locomotion Interface
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Medicina
Simuladores Quirurgicos
Simuladores de Examenes Medicos
- Técnicas de Palpitación
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Modelado de Formas Tridimencionales
Recreación Haptic Precisión en tareas de modelado PHAMToM FEELEX ;Soporte de Manipulaciones
Naturales
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Interfaz Utilizando Haptic
Touchscreen
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Arte
Escultura Interactiva
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Aplicaciones para Locomotion Interfaces
Simuladores de Desastres Simuladores de evacuación Análisis de comportamiento Simuladores de fenómenos físicos
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Conclusiones
La tecnología Haptics es indispensable para la interacción humana en el mundo real.
Las interfaces haptic comerciales disponibles son caras y limitadas en sus funciones.
El propósito es el hacer que el uso de esta tecnología parte de nuestra vida diaria.