I Advances in Haptics Advances in Haptics Edited by Mehrdad Hosseini Zadeh In-Tech intechweb.org Published by In-Teh In-Teh Olajnica 19/2, 32000 Vukovar, Croatia Abstracting and non-prot use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the In-Teh, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2010 In-teh www.intechweb.org Additional copies can be obtained from: publication@intechweb.org First published April 2010 Printed in India Technical Editor: Goran Bajac Cover designed by Dino Smrekar Advances in Haptics, Edited by Mehrdad Hosseini Zadeh p. cm. ISBN 978-953-307-093-3 V Preface In everyday life, we use our senses to interact with the environment. We can see, touch, smell, hear and taste the external world surrounding us through interactions that usually occur with an initial contact between an organism and its environment. Particularly, we have physical experiences such as texture, stiffness, and resistance to movement through our sense of touch. To experience these in virtual environments (VEs), computer interfaces are required to enable us to interact with virtual objects. Haptic technology enables computer users to touch and/or manipulate virtual or remote objects in virtual environments or tele-operation systems. If haptic cues (e.g., touch sensations) are displayed in addition to visual and auditory cues, these VEs are called haptic-enabled virtual environments. Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/ engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientic visualization, robot- assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the eld of haptics. Authors from around the world present the results of their research on various issues in the eld of haptics. The contributions are organized in ve sections: Section I deals with the design, control, and analysis of haptic interfaces. Issues such as stability and achievable performance of haptic interfaces are addressed. Stability is one of the main issues in the control of haptic interfaces. Instability might cause an undesirable feeling to the user and unrealistic interaction with the virtual environment. Stability and achievable performance of a haptic system are among the fundamental indices for evaluation of a high- precision stable haptic rendering. VI In Section II, several important issues are addressed in the haptic rendering of haptic-enabled VEs. The contributed chapters in this section deal with the development and enhancement of algorithms and software associated with generating, transmitting, and rendering the feel of virtual objects. Section III covers several human factors studies that investigate the effects of various factors on user perception and performance in various applications of haptics. Haptic applications require interactions between humans and computers. Due to the complexity and variability of the user’s physical motion, it is difcult to generate a precise mathematical description of human motor control behavior. In addition, to ensure that VEs are compatible with users, VE designers need knowledge about human perception to obtain an understanding of design constraints inuenced by sensory perception. Thus, human factors studies are required to recognize the limitations and capabilities of the user. Section IV presents topics focusing on various aspects of the haptic interaction between humans and computers. An understanding of the nature of user-computer interaction is essential for the design of haptic interfaces. Several interaction issues are investigated to ensure the effectiveness of haptic interfaces. The results of these studies can improve the design of usable and effective haptic interfaces. Finally, Section V presents recent selected applications in the eld of haptics. Mehrdad Hosseini Zadeh, Ph.D Grand Blanc, Michigan April 2010 VII Contents Preface V I. HapticInterfaces:Design,Control,andAnalysis 1. NovelActuationMethodsforHighForceHaptics 001 StephenP.BuergerandNevilleHogan 2. UsingMagneticLevitationforHapticInteraction 031 PeterBerkelmanandMichaelDzadovsky 3. SolvingtheCorrespondenceProbleminHaptic/MultisensoryInterfaceDesign 047 CharlesSpence,MaryK.Ngo,Ju-HwanLeeandHongTan 4. CartesianControlofaCable-DrivenHapticMechanism 075 MartinJ.D.Otis,VincentDuchaine,GregBillette,SimonPerreault, ClémentGosselinandDenisLaurendeau 5. StabilityBoundaryandTransparencyforHapticRendering 103 IñakiDíaz,JorgeJuanGilandThomasHulin 6. ImplementationofaWirelessHapticControllerforHumanoidRobotWalking 127 Eun-SuKim,Man-SeokKim,JohwanKim,SangWooKimandJong-WookKim 7. Head-TrackingHapticComputerInterfacefortheBlind 143 SimonMeersandKorenWard 8. Passivity-basedAnalysisandDesignofMulti-contactHapticSystemsviaLMIs 155 GianniBianchini,MarcelloOrlandesiandDomenicoPrattichizzo 9. AnalysisandExperimentalStudyofa4-DOFHapticDevice 171 MaandPayandeh 10. AHapticallyEnhancedOperationalConceptforaHydraulicExcavator 199 HenningHaynandDieterSchwarzmann 11. FiveFingersHapticInterfaceRobotHIRO:Design,Rendering,andApplications 221 OsamaHalabiandHaruhisaKawasaki 12. OptimalDesignofHapticInterfaces 241 VolkanPatogluandAykutCihanSatici VIII 13. TransparentandShapedStiffnessReectionforTelesurgery 259 BertWillaert,PauwelGoethals,DominiekReynaerts,HendrikVanBrussel andEmmanuelB.VanderPoorten 14. MechanismDesignofHapticDevices 283 HanSungKim II. ComputerHapticsandHapticRendering 15. Haptic-Based3DCarvingSimulator 299 GabrielTellesO’Neill,Won-SookLeeandJeffWilliam 16. ManipulationofDynamicallyDeformableObjectusingImpulse-BasedApproach 315 KazuyoshiTagawa,KoichiHirotaandMichitakaHirose 17. HapticInteractionwithComplexModelsBasedonPrecomputations 333 IgorPeterlíkandLuděkMatyskaandJiříFilipovič 18. AHapticModelingSystem 357 JehaRyuandHyungonKim 19. HapticDataTransmissionbasedonthePredictionandCompression 375 YongheeYouandMeeYoungSung III. HumanFactors 20. Digitizingliteracy:reectionsonthehapticsofwriting 385 AnneMangenandJean-LucVelay 21. KinestheticIllusionofBeingPulledSensationEnablesHapticNavigation forBroadSocialApplications 403 TomohiroAmemiya,HideyukiAndoandTaroMaeda 22. PerceptualIssuesImproveHapticSystemsPerformance 415 MarcoVicentiniandDeboraBotturi 23. Temporalperceptionofvisual-hapticeventsinmultimodaltelepresencesystem 437 ZhuanghuaShi,HengZouandHermannJ.Müller 24. OntheInuenceofHandDynamicsonMotionPlanningofReaching MovementsinHapticEnvironments 451 IgorGoncharenko,MikhailSvinin,ShigeyukiHosoeandSvenForstmann 25. Haptictouchandhandability 463 MiriamIttyerah 26. ForceScalingasaFunctionofObjectMasswhenLiftingwithPeripheralFatigue 481 JamesC.Larmer,CamilleWilliamsandHeatherCarnahan 27. NeuromuscularAnalysisasaGuidelineindesigningSharedControl 499 AbbinkD.A.andMulderM. IX 28. FactorsAffectingthePerception-BasedCompressionofHapticData 517 MehrdadHosseiniZadeh,DavidWangandEricKubica IV. HapticInteraction 29. Real-TimeSupportofHapticInteractionbyMeansofSampling-Based PathPlanning 543 MichaelStrolzandMartinBuss 30. SensoryPropertiesinFusionofVisual/HapticStimuliUsingMixedReality 565 ItaruKitahara,MorioNakaharaandYuichiOhta 31. ExpandingtheScopeofInstantMessagingwithBidirectional HapticCommunication 583 YoungjaeKimandMinsooHahn 32. RealisticHapticsInteractioninComplexVirtualEnvironments 603 HanqiuSUNandHuiCHEN V. SelectedHapticApplications 33. MappingWorkspacestoVirtualSpaceinWorkUsingHeterogeneous HapticInterfaceDevices 621 AyanoTatematsuandYutakaIshibashi 34. CollaborativeTele-HapticApplicationandItsExperiments 637 QonitaM.Shahab,MariaN.MayangsariandYong-MooKwon 35. UsingHapticTechnologytoImproveNon-ContactHandling: the“HapticTweezer”Concept 649 EwoudvanWest,AkioYamamotoandToshiroHiguchi 36. HapticsandtheBiometricAuthenticationChallenge 675 AndreaKannehandZiadSakr 37. Hapticvirtualrealityassembly–MovingtowardsRealEngineeringApplications 693 T.Lim,J.M.Ritchie,R.Sung,Z.Kosmadoudi,Y.LiuandA.G.Thin [...]... the two points Selecting the two pistons as points 1 and 2, with equal cross-sectional areas, bulk velocities, and flow profiles, with no net change in elevation and a force F1 applied to piston 1 but no force applied to piston 2, eq (11 ) reduces to: F1 A1 hlt which also uses the relationship: P1 F1 A1 (12 ) (13 ) The head loss hlt results from major losses due to the main fluid line body in addition... the fluid in the two cylinders, while mline is the mass of the fluid in the hose Computation of mcyl and mline is straightforward from the density and system geometry but to determine meq the following relationship must be used: v The resulting equivalent inertia is: meq L1 A1 v1 A D12 D4 L 1 2 4 4D (17 ) (18 ) When the fluid line is long or narrow, the second term dominates Decreasing the piston... (by minimizing impedance error) while guaranteeing coupled stability (Buerger & Hogan, 2007) 12 Advances in Haptics 3.3 Advanced actuators In spite of significant progress in advanced interaction control, achieving all six required characteristics of high force haptic devices listed in section 1 remains a persistent challenge, particularly for complex and high-DOF devices Several recent advances in. .. equation: P1 P v2 v2 1 1 gz1 2 2 2 gz 2 hlt 2 2 (11 ) 18 Advances in Haptics P1 and P2 are the pressures at each point in the pipe is the fluid density, 1 and 2 are kinetic energy coefficients related to the flow profile, z1 and z2 represent elevation, and g is the acceleration due to gravity hlt is the total head loss, representing the energy (per unit mass)... yielding a single number to minimize: 1 C W ω log Z jω log Ztarg jω dω 0 (1) The weighting function W can be used to emphasize general frequency regions of interest or particular features such as precise resonances, and ω can be replaced with its log to achieve logarithmic frequency weighting In other cases more insight may be gained by quantifying performance in terms of intuitively... piston diameter D1 decreases the system inertia but decreasing the line diameter D increases the inertia dramatically despite the fact that a smaller volume of fluid is used This is because the fluid in the smaller line must accelerate much more rapidly, more than compensating for the fact that there is less of it 20 Advances in Haptics Compliance: Assuming that the working fluid is incompressible and... system A wound steel constant-force spring was used at each cylinder to apply the bias force Springs are an advantageous means Novel Actuation Methods for High Force Haptics 21 Fig 10 Outer piston/cylinder assembly of applying a bias force because they contribute minimal inertia and friction In choosing a working fluid for this application, fluid dynamics including the viscosity, density, and compressibility... damping seen at the piston is linear with velocity and with the fluid viscosity , and is governed by the expression: 4 D F1 8L 1 v1 D (14 ) The major damping at the piston is proportional to the fourth power of the ratio of piston diameter to pipe diameter (or the square of the area ratio A1 / A) In other words, decreasing the pipe diameter increases damping dramatically in the laminar... 4000 The resulting expression is: F1 8 0. 316 4 0.25 0.75 L D15.5 1. 75 v1 D 4.75 (15 ) Turbulent damping is nonlinear in velocity, and even more highly dependent on the piston and line diameters Given the specification of a 3 m flexible line for the representative prototype, a design figure depicting the predicted friction versus velocity for several different hose diameters is shown in Fig 9 A specification... changed by altering the piston/cylinder geometry Reducing the piston diameter can significantly reduce damping and inertia, as shown by Eqs (14 ), (15 ) and (18 ), or permits smaller hose diameters for the same impedance properties, reducing compliance and improving flexibility However, by Eq (13 ) this increases the operating pressure, which has at least two negative consequences: greater part strength . I Advances in Haptics Advances in Haptics Edited by Mehrdad Hosseini Zadeh In- Tech intechweb.org Published by In- Teh In- Teh Olajnica 19 /2, 32000 Vukovar, Croatia Abstracting and non-prot. is intrinsically multi-disciplinary, incorporating computer science/ engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances. 2 010 In- teh www.intechweb.org Additional copies can be obtained from: publication@intechweb.org First published April 2 010 Printed in India Technical Editor: Goran Bajac Cover designed by Dino