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Check the the
current lecture here.
Some lectures and the
abstracts of all previous lectures are freely
available here.
1. Gabriel Robles-De-La-Torre,
International Society for Haptics (September 2007).
2. Ton Stam, FCS Robotics,
The Netherlands (TBA).
3. Antonio Frisoli, PERCRO,
Italy (TBA).
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Electronic
Lecture Series
Current
Lecture
Touching illusory objects:
Sculpting human perception
through virtual reality
Speaker: Gabriel
Robles-De-La-Torre, Founder, International Society for Haptics
THIS LECTURE IS FREELY
ACCESIBLE. Click here for viewing instructions.
This lecture was sponsored by The
New York Academy of Sciences and The William A. Haseltine Foundation
for Medical Sciences and the Arts.
Abstract
We have all experienced visual perceptual
illusions. It is much less widely known that there are also perceptual
illusions in the sense of touch. This lecture discusses one of these illusions,
involving haptic perception of the shape of objects. This illusion is experienced
when haptically exploring paradoxical objects. Such objects consist of
normally impossible combinations of sensory cues (object geometry and contact
forces), created through haptic
technology. Contact forces can determine how paradoxical objects are
perceived. For example, forces can perceptually transform actual shape
features (e.g., surface bumps) into radically different percepts (e.g.,
surface holes). This effect can be applied to haptically render virtual
objects with challenging features such as sharp borders. An analogue of
this illusion during locomotion is discussed. Additionally, a brief introduction
explains the basics of haptic force-feedback technology, and outlines why
touch and related human capabilities are critically important for normal
human functioning.
Lecture delivered at the New
York Academy of Sciences (7 World Trade Center, New York City)
on April 14th, 2007. This lecture was part of the NYAS conference "Biology
and Art: two worlds or one?". The lecture is part of the corresponding
eBriefing from the New York Academy of Sciences.
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This lecture was part of the New York Academy
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Some Society lectures and the abstracts
of all previous lectures are
freely
available.
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lectures and more!
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INTERNATIONAL SOCIETY
FOR HAPTICS
Previous Lectures
Join
the Society today and access the full-leght lectures and more!
"A
Tactile Display Using Acoustic Radiation Pressure"
Abstract
Takayuki
Iwamoto
Shinoda
Laboratory
Graduate
School of Information Science and Technology
The
University of Tokyo
This lecture is open to all. Click here to download
materials
"Display
of Haptic Shape at Different Scales"
Abstract
Vincent
Hayward
Haptics
Laboratory
McGill
University
Canada
"The
Dutch-Belgian Haptics Network"
Abstract
Göran
Christiansson
Delft Robotics Lab
TU Delft
The Netherlands
"Experimental
Evidence of Lateral Skin Strain During Tactile Exploration"
Abstract
Vincent
Levesque
Haptics Laboratory
McGill University
Canada
May
26th, 2004
"Some
Studies on Haptics"
Abstract
Bernd
Petzold
Institute for Machine Tools and Industrial Management
TU Muenchen (Techn. Univ. Munich)
Germany
November
10th, 2003
"A Multirate System Approach to the Stability of Haptic Interaction
with Deformable Objects"
Abstract
Domenico
Prattichizzo
Dipartimento di Ingegneria dell'Informazione
Università di Siena
Italy
Mid-July
2003.
"Haptic
Orbs; Origins and New Directions"
Abstract
Michael
Wallace
President, Global Haptics, Inc.
USA
April
4th, 2003
Inaugural
Society Lecture
"Haptics in Microrobotics"
Abstract
Aleksandr
Shirinov
Department of Computer Science
Carl von Ossietzky Universität Oldenburg
Germany
February
18th, 2003
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Lecture
abstracts
Inaugural
Society Lecture
"Haptics in Microrobotics"
Aleksandr
Shirinov
Department of Computer Science
Carl von Ossietzky Universität Oldenburg
Germany
February
15th, 2003
Different
haptic interfaces are used today for force-feedback-enabled teleoperation
of microrobots. By using haptic interfaces in microrobot control systems,
it is possible to experience the forces that occur in the microworld. The
realistic, real-time sensing of microforces and visual information from
the working area allow to perform real-time, precision microrobot control.
During
the past years, many different haptic interfaces have been developed. In
microrobotics,
the most well-known and widely used interfaces are the Phantom device from
Sensable Technologies, the Delta device from Freedom Co., and force-feedback
joysticks, for instance the Wingman Strike Force 3D from Logitech. However
these interfaces don't allow an user to operate microrobots with dexterity.
At the present time, there aren't flexible haptic interfaces that are specialised
for the control of microrobots.
We figured
out that, for the successful control of microrobots, a haptic interface
with the following features should be developed:
With the
ability to provide force-feedback in a wide range of forces (100,000:1).
It should
allow for micro robot control over a big range of distances (100,000,000:1).
It should
have a big bandwidth, to be able to represent high frequency components
of forces
acting at micro objects.
It should
have an intuitive mechanical interface, which follows the form of the microrobot
end effector.
It should
have control elements (buttons) placed on the haptic manipulandum for real-time
micro-assembly station control in different modes without the need for
a keyboard or mouse.
It should
provide a cost-effective solution for microrobot teleoperation.
We are
currently developing a haptic interface in our institute, which should
be specialised for the force-feedback teleoperation of microrobots. In
this lecture, the structure of the microrobot's control system will be
described, and the haptic interface under development will be presented.
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"Haptic
Orbs; Origins and New Directions"
Michael
Wallace
President,
Global Haptics, Inc.
mgw@globalhaptics.com
Abstract
Haptic
orbs are essentially closed convex surfaces covered or embedded with tactile
sensors. The relationship between any sensor position and the centroid
of the orb defines a ray. The plurality of rays emanating from the
orb provides an intuitive mapping to three dimensional (3D) space, either
virtual or real. This mapping yields a practical and inexpensive
means to control at least 3 degrees of freedom (DOF) for computer input.
Coupled with simple rotational and other solutions, a versatile 6 DOF input
device is realized.
A number
of open source and license – based software products now communicate with
haptic orbs, including VRPN, Rhino3D, and the TORQUE game engine sdk.
These allow the orb to be applied to a variety of tasks or tests.
Haptic
orbs have their own unique attributes, compared to other devices.
These lead naturally to simplification and resolution of several issues
which have interested some haptics researchers. Haptic orbs are the
first isotonic device class that does not require tracking, for example.
The unique
attributes of haptic orbs also natural lead to unique challenges for their
full potential to be realized. Current concerns for haptic orb prototypes
revolve around proprioception, tactility, persistance and acquisition.
These issues have built up a perception that the landscapes of haptic orbs
will likely mutate into a wide variety of ways. These may include
overlapping multi-scalar and multi-modal sensor configurations.
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"A
Multirate System Approach to the Stability of
Haptic
Interaction with Deformable Objects"
Domenico
Prattichizzo
Dipartimento
di Ingegneria dell'Informazione
Università
di Siena
Italy
A new technique
for allowing users to haptically interact with a deformable slowly-simulated
object in a stable manner is presented. Stability has been approached in
the past by various researchers using passivity theory in order to avoid
having to model the human operator closing the haptic loop. None of these
solutions however can work well without the use of high update rates and
thus break down in the case of haptic interaction with slowly simulated
virtual environments such as the ones featuring highly precise deformable
objects. This is particularly true for the case of surgical simulation
with force feedback, where precision is a key issue and where complexity
can reach high levels. The technique presented in this lecture are
based on the concepts of local model for haptic interaction adapted to
deformable objects. A multi-rate system theoretic approach is used to prove
the stability of the simulation loop. Work is in progess to prove the stability
of the the multi-rate system by means of the passivity theory mathematical
tools. All the data presented in the lecture have been collected through
experiments running on a PHANTOM haptic interface.
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"Some
Studies on Haptics"
Bernd
Petzold
Institute
for Machine Tools and Industrial Management
TU Muenchen
(Techn. Univ. Munich)
Germany
The advantages
of force feedback are not obvious to everybody. In many enterprises, force
feedback is seen as a kind of expensive toy for researchers. For that reason,
a study was made to show these people that haptic feedback can improve
man-machine interaction. To achieve realistic interaction, the hypothesis
was made that two hands have to be integrated in the setup. But as haptic
devices vary strongly in shape, size, DOFs, function and more, it is important
to know which device is suited best for the dominant and the non-dominant
hand. The results of a study on that topic will be also explained and discussed
in the lecture.
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"Experimental
Evidence of Lateral Skin Strain During Tactile Exploration"
Vincent
Levesque
Haptics
Laboratory
McGill
University
Canada
This presentation
describes an experimental platform for the study of stretch and
compression
of the human fingerpad skin during tactile exploration. A digital camera
records
the sequence of patterns created by a fingertip as it slides over a transparent
surface
with simple geometrical features. Skin deformation is measured with high
temporal
and spatial
resolution by tracking anatomical landmarks on the fingertip. Techniques
adapted
from the field of online fingerprinting are used to acquire high-contrast
fingerprint
images
and extract salient features (pores, valley endings, and valley bifurcations).
The
results
of experiments performed with surfaces with a bump or hole and flat surfaces
are
presented.
This work is motivated by the need to provide meaningful `tactile movies'
for a
tactile
display that uses distributed lateral skin stretch.
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"The
Dutch-Belgian Haptics Network"
Göran
Christiansson
Delft
Robotics Lab
TU
Delft
The Netherlands
This presentation
is about the Dutch-Belgian Haptics Network. In our small countries, there
is research on haptics and teleoperation on more than ten places, but with
very few people at each lab. Therefore we started a network last year to
support each other, and to help the new researchers enter the field as
fast as possible. Most of us do research on force-oriented haptic feedback
for teleoperation, with a main focus on medical robotics, and a few on
vibrotactile feedback. We want to present how we started this network,
and our experiences on running this type of local, low-cost community.
If you have any questions, please mail Göran Christiansson (g.a.v.christiansson@wbmt.tudelft.nl)
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Display
of Haptic Shape at Different Scales
Vincent
Hayward
Haptics
Laboratory
McGillUniversity
Canada
Abstract. This lecture describes three
haptic devices which can create the experience of haptic shape, each at
a different scale. They operate by causing fingertip deformations that
match the scale of the features of the objects being virtually touched.
For large objects, shape display is obtained by the movement of the deformed
contact area on the skin, for medium objects, display is given by the deformation
of the fingertip rolling laterally, and for small objects, by stretching
and compressing the skin locally. These display modes can in principle
be combined to make complex displays operating at different scales.
Acknowledgements. This is Prof.
Hayward's Keynote Lecture at Eurohaptics 2004. Offering this lecture in
electronic format was made possible by the following persons. Prof. Hayward
(McGill University; member, International Society for Haptics), who suggested
the idea; Prof. Martin Buss (Tech. Univ. Munich and Eurohaptics 2004 Chair)
and Dr. Marc Ernst (Max Planck Institute Tubingen, Eurohaptics 2004 Co-Chair;
member, International Society for Haptics), who kindly supported the idea
and made it possible to record and edit the lecture; Hasan Esen (Tech.
Univ. Munich) edited the slides and video, and Vincent Levesque (McGill
University; member, International Society for Haptics) optimized the audio.
The International Society for Haptics would like to thank all of them for
their efforts.
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"A Tactile Display Using
Acoustic Radiation Pressure"
Takayuki
Iwamoto
Shinoda Laboratory
Graduate School of Information
Science and Technology
The University of Tokyo
Download lecture materials:
Slides
(pdf), Audio
(MP3), Movies
(zipped MPEG).
Mr. Iwamoto was the winner,
with Prof. Hiroyuki Shinoda, of the Best Student Paper Award at WorldHaptics
2005. In this lecture he discusses his award-winning work, plus new work
on 2-D ultrasonic tactile displays.
Abstract
This lecture describes a
new method for producing tactile sensation with acoustic radiation pressure
and the design and development of tactile displays which implemented this
method. By scanning a focal point of the radiation pressure using arrayed
ultrasound oscillators, the display can create various spatio-temporal
patterns of pressure on the surface of the skin with sufficient spatial
and temporal resolution. The details of the design and evaluation of the
1-D prototype display are discussed. We are fabricating a 2-D prototype
display. Several initial results on the 2-D prototype are also shown.
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the Society today and access the full-length lectures and more!
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