Touch & Haptics. Touch & High Information Transfer Rate. Modern Haptics. Human. Haptics

Transcription

1 Touch & Haptics Touch & High Information Transfer Rate Blind and deaf people have been using touch to substitute vision or hearing for a very long time, and successfully. OPTACON Hong Z Tan Purdue University & Microsoft Research Asia 12 bits/sec 92 words/min Yet touch is underutilized in human-computer interfaces! 2 Modern Haptics Modern haptics is concerned with the science, technology, and applications associated with the information acquisition and object manipulation through touch, including all aspects of manual exploration and manipulation by humans, machines, and the interactions between the two, performed in real, virtual, teleoperated, or networked environments. (IEEE Technical Committee on Haptics) Machine Haptics Human Haptics Computer Haptics 3 4 1

2 When we touch something We feel apanel! Exploratory Procedures nerve innervation density: mm 5 6 Haptic Display Technologies Vibrotactile Actuators (intensity, frequency, waveform, duration, delay, etc.) Vibrotactile actuators (tactors) Force displays Thermal displays Array displays (on the torso) Fingertip displays Gain Ratio (db) $1.50 Frequency Response of C2 Tactor (Rubberbanded) With 1.5V ptp Input Gain Ratio (db) Frequency Response of C2 Tactor (Strapped to Wrist) With 1.5V ptp Input Frequency (Hz) -10 Frequency (Hz) 7 8 2

3 Temperature Curve Time (s) 1/22/2016 Force-feedback Haptic Devices (intuitive, conveys object shape, surface properties, etc.) Custom-Designed Force Displays (position resolution, bandwidth, back-drivability) From Butterfly Haptics: PHANToM by SensAble Technologies Omega by Force Dimension Falcon by Novint, modified for torque display $200 The (Purple) Mini-stick designed by Dov Adelstein, NASA Ames Position resolution: 1.5 m PHANToM: 30 m Omega: 9 m The Maglev designed by Ralph Hollis, CMU 9 10 Thermal Display (very new ) Array Displays Index finger Thermistor 1 Temperature (C) A/D Thermistor 2 Peltier device Peltier device PI Control D/A Bipolar Power Supply & Voltage Amplifier Real Simulated Real material Simulated material Slide courtesy of Dr. Lynette Jones, MIT. 11 Photo Courtesy of Dr. Lynette Jones, MIT 12 3

4 Fingertip Displays Fingertip Displays Courtesy of Prof. Ian Summers Exeter University, UK TeslaTouch by Disney TPaD Piezoelectric actuators excite the glass surface at resonance 13 Graphical display is positioned underneath the glass surface Courtesy of Prof. Ed Colgate Northwestern Univ. 14 There is NO Standard Haptic Display A Full-Range Position Display We simply do not have the haptic equivalent of a computer monitor or speaker today Either a position (vibration) or force display, but not both Hard to cover the whole body surface 15 Range of perceivable motion/vibration A general position display requires a bandwidth of > 500 Hz a dynamic range > 100dB At 250 Hz, human hands can sense a 0.1 m (pk) vibration At < 5 Hz, human fingers has a > 10 mm range of motion TACTUATOR, A haptic hearing aid for individuals with hearing impairments 16 4

5 The 400-Probe Stimulator Reaching the Human Resolution Now, more practical systems APPLICATIONS OF HAPTICS Photo Courtesy of Dr. Diane Pawluk, VCU Recent Innovations (from BloombergNewsweek, illustrations by Mckibillo) Typing is hard with visual feedback only Pacinian Senseg Artificial Muscle Tactus Technology We Can Do Better! Buzzing helps, but it can feel sluggish and cheap

6 Haptics in mobile phone Click feedback without real keys How Does It Work? Acceleration profile of a telephone key #1 Input / output of piezo actuator The Touchy Feely Finger Win8 OS Slate (Metro UI) Authoring in Windows Live Mail Eyes track only one part ( vertical letter display close to the cursor ) of the screen to figure out what s going on. Feeling Surface Texture How People Do It Texture is defined as the microscale structure of a surface Humans perceive texture through two types of cues: spatial-intensive & temporal Perceptual Dimensions of Texture: Roughness Hardness Stickiness Left thumb does the positioning, along an arc. Left feels ridges between letters. Right thumb does the selecting, at one of 3 locations. Right feels confirmation clicks

7 Feeling Surface Texture How Machine Does It Simulating Texture through Vibrations Simulating Texture through Friction TeslaTouch (UIST 2010) Trick: Lateral force can create the illusion of height variations in microscale (i.e., texture) Advantages of Touch Private, Fast (spinal reflex), Intuitive Large receptor area Multidimensional (force, motion, vibration, thermal) Low cognitive load in stressful situations Compliments auditory/visual inputs Flat surface F Virtual bump Virtual hole F

8 TOWARDS GRACEFUL INTERACTION BY INTEGRATING HAPTICS INTO USER INTERFACES 29 8