Overview of current developments in haptic APIs

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1 Central European Seminar on Computer Graphics for students, 2011 AUTHOR: Petr Kadleček SUPERVISOR: Petr Kmoch Overview of current developments in haptic APIs

2 Presentation Haptics Haptic programming Haptic rendering Haptic APIs 1

3 Haptics hapt esthai Sense of touch cutaneous organs Tactile/touch devices Kinesthetic sense muscles & joints Haptic devices Haptics Haptic programming Haptic rendering Haptic APIs 2

4 Haptic devices Degrees of freedom 3-DOF, 6-DOF, 6/3-DOF, Novint Falcon 3-DOF Haptics Haptic programming Haptic rendering Haptic APIs 3

5 Haptic devices Workspace [inches] Position resolution [DPI] Maximal force [N] Stiffness [N/m] PHANTOM Desktop 6/3-DOF Haptics Haptic programming Haptic rendering Haptic APIs 4

6 Application of haptics assistive technology ease of cognitive load for visually impaired or blind people medicine teleoperation virtual palpation simulations of surgical operations military, painting, CAD and gaming Image source: Haptics Haptic programming Haptic rendering Haptic APIs 5

7 Abstraction layers of haptic APIs Haptics Haptic programming Haptic rendering Haptic APIs 6

8 Abstraction layers of haptic APIs driver serial bus communication (USB, IEEE 1394) kinematic algorithm encoders e.g. warped tri-hemispherical regions workspace Cartesian coordinates Image courtesy: Kevin Ouellet Haptics Haptic programming Haptic rendering Haptic APIs 7

9 Abstraction layers of haptic APIs Low-level API hides kinematic algorithm position, rotation vector force vector device handler (hides driver layer) different devices with same interface servo loop (thread handling) blocking / non-blocking Haptics Haptic programming Haptic rendering Haptic APIs 8

10 Abstraction layers of haptic APIs High-level layer Model data representation graphical = haptical primitives, polygon soup OpenGL support FeedbackBufferCollector Haptic rendering Haptics Haptic programming Haptic rendering Haptic APIs 9

11 Abstraction layers of haptic APIs Scene graph API Graphics + haptics + audio Tree structure of objects Properties, effects, Haptics Haptic programming Haptic rendering Haptic APIs 10

12 Haptic rendering Haptic force generation algorithm Realistic/non-realistic kinesthetic feel 1000 Hz ~= 30x faster than real-time graphics Haptic tool force object 3-DOF rigid body Stiffness limitation problem Ideal mass-less spring Hooke s law: F s = k x Haptics Haptic programming Haptic rendering Haptic APIs 11

13 Haptic rendering Penalty based methods force field pop-through problems Haptics Haptic programming Haptic rendering Haptic APIs 12

14 Haptic rendering God-object method (Zilles et al.) Constraint planes Haptic textures Force shading Haptics Haptic programming Haptic rendering Haptic APIs 13

15 Haptic rendering Virtual proxy method (Ruspini et al.) resolves small surface gaps low-quality digitization non-precise modeling Haptics Haptic programming Haptic rendering Haptic APIs 14

16 Haptic APIs CHAI 3D Scene graph API OpenGL Low-level use God-object Modules ODE module GEL module BASS module Haptics Haptic programming Haptic rendering Haptic APIs 15

17 Haptic APIs H3D API HAPI - haptic rendering FeedbackBufferCollector, God-object / Virtual proxy OpenGL - graphic rendering X3D - scene definition C++, Python interface Fast prototyping good support Haptics Haptic programming Haptic rendering Haptic APIs 16

18 Haptic APIs Other haptic APIs OpenHaptics Academic edition HDAL SDK Novint Falcon low-level API libnifalcon Novint Falcon open-source driver JTouchToolkit Java wrapper for HDAL/HDAPI/HLAPI Haptics Haptic programming Haptic rendering Haptic APIs 17

19 Haptic APIs Benchmark Testing hardware: Intel Atom GHz dual core CPU Haptics Haptic programming Haptic rendering Haptic APIs 18

20 Haptic APIs Future work 6/3-DOF haptic rendering algorithm implementation to CHAI 3D / HAPI fast (continuous) collision detection GPU acceleration on CUDA closed loop algorithm Haptic interaction in Autodesk Maya Haptic tool: 3D locator (Maya API) Forces: constraint-based aid 19

21 End Thank you Questions 20

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