Haptic Interface

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Haptic Interface
Dale A. Lawrence Aerospace Engineering Sciences
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Assistive Technology
Lucy Y. Pao Electrical Computer Engineering
Boulder Campus
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for Spatial Learning
Howard Kramer CU Disability Services Center
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Haptic Interfaces

• Enable people to communicate with a computer by
  using their hands to manipulate as well as feel
  virtual objects, which can be
• Representations of remote objects
  (tele-manipulation)
• Computer-generated objects (virtual reality)
• Provide an additional channel for human-computer
  interaction
• Complement vision in 3-dimensional environments
• Promote active exploration through direct
  manipulation and tactile sensing of virtual
  objects

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Direct Manipulation
Haptic Interfaces in Tele-manipulation and
Virtual Reality
Remote Environment
Tele-manipulation
Haptic Interface
Computer- Generated Virtual Environment
Operator
Virtual Reality
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University of Colorado Visual/Haptic Interface
Testbed

• Used here for scientific visualization
• of magnetic fields

• Visual display shows magnetic flux vectors as
  streamlines

• Pointer glyph
• matches hand motion

• Data at pointer location is felt as force /
  torque on the hand

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Spatial Learning

• Conventional visual/haptic computer interfaces
  utilize previously developed haptic/spatial
  perceptual and cognitive abilities

Can haptic interfaces be used to assist in the
development of spatial perceptual and cognitive
abilities?
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Current NSF ProjectHaptic Interfaces for
Spatial Learning2001-2004

• Goal is to develop a multi-modal
  visual/haptic/audio interface for learning,
  using, and communicating spatial concepts.
• Target populations include those with spatial
  learning disabilities and those with vision
  impairments.

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• Project Focus
• Spatial concepts that are difficult
• to learn/convey with traditional
• 2-dimensional graphical displays
• Object shape
• Object position and orientation
• Relative location/orientation of objects
• Object contact/interference
• Intersection contours and volumes
• Projections onto viewing/cut planes
• Surface properties convexity, curvature

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Approach Develop technology to allow objects to
be directly sketched in 3D
Initial stylus position establishes cone apex and
central axis
Initial stylus position establishes cone apex and
central axis

• Use simple shapes as a basis set for more
  complex objects
• Make their specification using stylus motion
  simple and intuitive

Next stylus position establishes cone height and
angle q
Next stylus position establishes cone height and
angle q
Cone object
Cone object example
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Approach (cont.)
Stylus can explore the object by touching or
pushing through the surface shell

• Manipulate objects directly to position and
  attach parts together
• Explore objects using haptic effects such as a
  hard shell on objects, and internal viscous
  resistance to motion

Cone object
Stylus glyph can grab the object, so object moves
with hand motions
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Project Plan
Year 1
Year 2
Year 3

• Develop a commercializable interface
  incorporating the most useful features from
  previous experiments

• Augment existing interface hardware with speech
  and audio capabilities
• Modify existing interface software to enable
  sketching and exploration of simple objects in
  3D

• Conduct experiments on the efficacy of various
  methods of learning, communicating, and exploring
  3D spatial constructs

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Technology Development

• Augment the existing visual/haptic interface
• to enable direct 3D drawing/exploration using
  simple shapes, e.g.

Two cones, merged to form a vase
Table top constructed as a rectangular box
Objects have distinctive sounds when touched
Haptic grooves and tick marks to assist in
accurate navigation and positioning
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Experiments/Questions

• What types of haptic interface modes enable
  improved learning/communication of 3D concepts
  over conventional 2D drawings alone?
• Can blind users draw and communicate 3D concepts
  more accurately using a haptic/speech/audio
  interface?
• Do techniques that assist the blind provide new
  insights for sighted users?
• Does the use of multi-modal interaction
  (vision/haptic/audio) enhance development of
  3D spatial skills for those with learning
  disabilities?

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Wanted

• Collaboration outside engineering
• Cognitive sciences
• Experimental psychology
• Developmental psychology
• Learning theory
• Learning disorders
• Psychophysics

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