Haptics Rendering and Applications

There has been significant progress in haptic technologies but the incorporation of haptics into virtual environments is still in its infancy. A wide range of the new society's human activities including communication, education, art, entertainment, commerce and science would forever change if we learned how to capture, manipulate and reproduce haptic sensory stimuli that are nearly indistinguishable from reality. For the field to move forward, many commercial and technological barriers need to be overcome. By rendering how objects feel through haptic technology, we communicate information that might reflect a desire to speak a physically- based language that has never been explored before. Due to constant improvement in haptics technology and increasing levels of research into and development of haptics-related algorithms, protocols and devices, there is a belief that haptics technology has a promising future

Enabling audio-haptics

This thesis deals with possible solutions to facilitate orientation, navigation and overview of non-visual interfaces and virtual environments with the help of sound in combination with force-feedback haptics. Applications with haptic force-feedback, s

Physically Interacting With Four Dimensions

Thesis (Ph.D.) - Indiana University, Computer Sciences, 2009People have long been fascinated with understanding the fourth dimension. While making pictures of 4D objects by projecting them to 3D can help reveal basic geometric features, 3D graphics images by themselves are of limited value. For example, just as 2D shadows of 3D curves may have lines crossing one another in the shadow, 3D graphics projections of smooth 4D topological surfaces can be interrupted where one surface intersects another. The research presented here creates physically realistic models for simple interactions with objects and materials in a virtual 4D world. We provide methods for the construction, multimodal exploration, and interactive manipulation of a wide variety of 4D objects. One basic achievement of this research is to exploit the free motion of a computer-based haptic probe to support a continuous motion that follows the \emph{local continuity\/} of a 4D surface, allowing collision-free exploration in the 3D projection. In 3D, this interactive probe follows the full local continuity of the surface as though we were in fact \emph{physically touching\/} the actual static 4D object. Our next contribution is to support dynamic 4D objects that can move, deform, and collide with other objects as well as with themselves. By combining graphics, haptics, and collision-sensing physical modeling, we can thus enhance our 4D visualization experience. Since we cannot actually place interaction devices in 4D, we develop fluid methods for interacting with a 4D object in its 3D shadow image using adapted reduced-dimension 3D tools for manipulating objects embedded in 4D. By physically modeling the correct properties of 4D surfaces, their bending forces, and their collisions in the 3D interactive or haptic controller interface, we can support full-featured physical exploration of 4D mathematical objects in a manner that is otherwise far beyond the real-world experience accessible to human beings

Sensory Communication

Contains table of contents for Section 2, an introduction and reports on fourteen research projects.National Institutes of Health Grant RO1 DC00117National Institutes of Health Grant RO1 DC02032National Institutes of Health/National Institute on Deafness and Other Communication Disorders Grant R01 DC00126National Institutes of Health Grant R01 DC00270National Institutes of Health Contract N01 DC52107U.S. Navy - Office of Naval Research/Naval Air Warfare Center Contract N61339-95-K-0014U.S. Navy - Office of Naval Research/Naval Air Warfare Center Contract N61339-96-K-0003U.S. Navy - Office of Naval Research Grant N00014-96-1-0379U.S. Air Force - Office of Scientific Research Grant F49620-95-1-0176U.S. Air Force - Office of Scientific Research Grant F49620-96-1-0202U.S. Navy - Office of Naval Research Subcontract 40167U.S. Navy - Office of Naval Research/Naval Air Warfare Center Contract N61339-96-K-0002National Institutes of Health Grant R01-NS33778U.S. Navy - Office of Naval Research Grant N00014-92-J-184

A Haptic Study to Inclusively Aid Teaching and Learning in the Discipline of Design

Designers are known to use a blend of manual and virtual processes to produce design prototype solutions. For modern designers, computer-aided design (CAD) tools are an essential requirement to begin to develop design concept solutions. CAD, together with augmented reality (AR) systems have altered the face of design practice, as witnessed by the way a designer can now change a 3D concept shape, form, color, pattern, and texture of a product by the click of a button in minutes, rather than the classic approach to labor on a physical model in the studio for hours. However, often CAD can limit a designer’s experience of being ‘hands-on’ with materials and processes. The rise of machine haptic1 (MH) tools have afforded a great potential for designers to feel more ‘hands-on’ with the virtual modeling processes. Through the use of MH, product designers are able to control, virtually sculpt, and manipulate virtual 3D objects on-screen. Design practitioners are well placed to make use of haptics, to augment 3D concept creation which is traditionally a highly tactile process. For similar reasoning, it could also be said that, non-sighted and visually impaired (NS, VI) communities could also benefit from using MH tools to increase touch-based interactions, thereby creating better access for NS, VI designers. In spite of this the use of MH within the design industry (specifically product design), or for use by the non-sighted community is still in its infancy. Therefore the full benefit of haptics to aid non-sighted designers has not yet been fully realised. This thesis empirically investigates the use of multimodal MH as a step closer to improving the virtual hands-on process, for the benefit of NS, VI and fully sighted (FS) Designer-Makers. This thesis comprises four experiments, embedded within four case studies (CS1-4). Case study 1and2 worked with self-employed NS, VI Art Makers at Henshaws College for the Blind and Visual Impaired. The study examined the effects of haptics on NS, VI users, evaluations of experience. Case study 3 and4, featuring experiments 3 and4, have been designed to examine the effects of haptics on distance learning design students at the Open University. The empirical results from all four case studies showed that NS, VI users were able to navigate and perceive virtual objects via the force from the haptically rendered objects on-screen. Moreover, they were assisted by the whole multimodal MH assistance, which in CS2 appeared to offer better assistance to NS versus FS participants. In CS3 and 4 MH and multimodal assistance afforded equal assistance to NS, VI, and FS, but haptics were not as successful in bettering the time results recorded in manual (M) haptic conditions. However, the collision data between M and MH showed little statistical difference. The thesis showed that multimodal MH systems, specifically used in kinesthetic mode have enabled human (non-disabled and disabled) to credibly judge objects within the virtual realm. It also shows that multimodal augmented tooling can improve the interaction and afford better access to the graphical user interface for a wider body of users

The evaluation of a novel haptic machining VR-based process planning system using an original process planning usability method

This thesis provides an original piece of work and contribution to knowledge by creating a new process planning system; Haptic Aided Process Planning (HAPP). This system is based on the combination of haptics and virtual reality (VR). HAPP creates a simulative machining environment where Process plans are automatically generated from the real time logging of a user’s interaction. Further, through the application of a novel usability test methodology, a deeper study of how this approach compares to conventional process planning was undertaken. An abductive research approach was selected and an iterative and incremental development methodology chosen. Three development cycles were undertaken with evaluation studies carried out at the end of each. Each study, the pre-pilot, pilot and industrial, identified progressive refinements to both the usability of HAPP and the usability evaluation method itself. HAPP provided process planners with an environment similar to which they are already familiar. Visual images were used to represent tools and material whilst a haptic interface enabled their movement and positioning by an operator in a manner comparable to their native setting. In this way an intuitive interface was developed that allowed users to plan the machining of parts consisting of features that can be machined on a pillar drill, 21/2D axis milling machine or centre lathe. The planning activities included single or multiple set ups, fixturing and sequencing of cutting operations. The logged information was parsed and output to a process plan including route sheets, operation sheets, tool lists and costing information, in a human readable format. The system evaluation revealed that HAPP, from an expert planners perspective is perceived to be 70% more satisfying to use, 66% more efficient in completing process plans, primarily due to the reduced cognitive load, is more effective producing a higher quality output of information and is 20% more learnable than a traditional process planning approach

A study of behavioural, cognitive and neural markers underlying visuospatial learning

Visuospatial (VS) learning is an education format noted for encouraging an individual to use visual exploration and their innate spatial ability in constructing a flexible ‘internal mental representation’ of three-dimensional information. Being a discipline reliant upon this informed consideration, VS methods have found particular application in anatomy education – with tangential evidence linking the inclusion of these methods to greater student understanding of anatomical concepts. Building on these findings, this thesis investigates: (i) the extent of individual and group learning benefits that accompany VS instruction within anatomy education, and (ii) a novel exploration of the cognitive and neuroscientific mechanisms that govern their success. To chart the success of instructional methodology in our reporting, we selected an array of academic performance and accompanying engagement indices. These items had been expressed by numerous modestly-powered prior studies, encompassing a diversity of anatomy cohorts, to be heightened under VS learning. Our initial work in Chapter 2 was therefore to determine if these effects were preserved when VS instruction was introduced within a substantially larger undergraduate anatomy cohort. Findings substantiated the wider applicability of this teaching method, with academic scores in each of the examined categories (didactic, spatial, and extrapolation) being superior to standard course delivery. Conflictingly, lower engagement and desire for VS inclusion was noted in the group receiving this instruction – leading us to attribute this to prevailing misconceptions about the nature of VS learning. In order to determine whether benefits found to characterise VS teaching in anatomy were universally applicable, or attributable to a myriad of demographic and cognitive factors, Chapter 3 explored variation in individual spatial capacity. Interestingly, the prevailing advantage of raw spatial aptitude in males was not associated with improved practical performance. This subsequently allowed a component of underlying psychological reasoning, namely visualisation (Vz) ability, to be highlighted as the clearest indicator of one’s ability to transfer raw spatial intelligence into practical VS understanding. Accompanying the misconceptions of VS learning reported in Chapter 2, participants were found to be poor estimators of their VS ability. Having established that spatial reasoning in anatomy possesses a physiological basis, we conducted a novel exploration of the neuroscientific mechanism evoked in VS learning using electroencephalography (EEG) technology (Chapter 4). This was evaluated by monitoring the neural signals of individuals engaged in two anatomical education workshops (featuring standard or VS instruction). No significant differences in oscillatory power accounted for the influence of VS instruction within any of the assessed frequency ranges (2-45Hz). Objective task outcomes were consistent with those in Chapter 2, finding a similarly elevated ability to address spatial questions following VS instruction. When placed together, the results of Chapters 2, 3 and 4 demonstrate the explicit advantages present for VS instruction in anatomy education. Though further work is required to isolate the specific underlying neural pathways, this appears linked to passive changes in how the human brain processes and later consolidates this information. Findings have important implications for advancing medical educational strategy (Appendix Descriptive Review), and wider understanding of the mechanisms that govern learning.Thesis (Ph.D.) -- University of Adelaide, Adelaide Medical School, 202

Enhancing detailed haptic relief for real-time interaction

The present document exposes a different approach for haptic rendering, defined as the simulation of force interactions to reproduce the sensation of surface relief in dense models. Current research shows open issues in timely haptic interaction involving large meshes, with several problems affecting performance and fidelity, and without a dominant technique to treat these issues properly. Relying in pure geometric collisions when rendering highly dense mesh models (hundreds of thousands of triangles) sensibly degrades haptic rates due to the sheer number of collisions that must be tracked between the mesh's faces and a haptic probe. Several bottlenecks were identified in order to enhance haptic performance: software architecture and data structures, collision detection, and accurate rendering of surface relief. To account for overall software architecture and data structures, it was derived a complete component framework for transforming standalone VR applications into full-fledged multi-threaded Collaborative Virtual Reality Environments (CVREs), after characterizing existing implementations into a feature-rich superset. Enhancements include: a scalable arbitrated peer-to-peer topology for scene sharing; multi-threaded components for graphics rendering, user interaction and network communications; a collaborative user interface model for session handling; and interchangeable user roles with multi-camera perspectives, avatar awareness and shared annotations. We validate the framework by converting the existing ALICE VR Navigator into a complete CVRE, showing good performance in collaborative manipulation of complex models. To specifically address collision detection computation, we derive a conformal algebra treatment for collisions among points, segments, areas, and volumes, based on collision detection in conformal R{4,1} (5D) space, and implemented in GPU for faster parallel queries. Results show orders of magnitude time reductions in collisions computations, allowing interactive rates. Finally, the main core of the research is the haptic rendering of surface mesostructure in large meshes. Initially, a method for surface haptic rendering was proposed, using image-based Hybrid Rugosity Mesostructures (HRMs) of per-face heightfield displacements and normalmaps layered on top of a simpler mesh, adding greater surface detail than actually present. Haptic perception is achieved modulating the haptic probe's force response using the HRM coat. A usability testbed framework was built to measure experimental performance with a common set tests, meshes and HRMs. Trial results show the goodness of the proposed technique, rendering accurate 3D surface detail at high sampling rates. This local per-face method is extended into a fast global approach for haptic rendering, building a mesostructure-based atlas of depth/normal textures (HyRMA), computed out of surface differences of the same mesh object at two different resolutions: original and simplified. For each triangle in the simplified mesh, an irregular prism is considered defined by the triangle's vertices and their normals. This prism completely covers the original mesh relief over the triangle. Depth distances and surfaces normals within each prism are warped from object volume space to orthogonal tangent space, by means of a novel and fast method for computing barycentric coordinates at the prism, and storing normals and relief in a sorted atlas. Haptic rendering is effected by colliding the probe against the atlas, and effecting a modulated force response at the haptic probe. The method is validated numerically, statistically and perceptually in user testing controlled trials, achieving accurate haptic sensation of large meshes' fine features at interactive rendering rates, with some minute loss of mesostructure detail.En aquesta tesi es presenta un novedós enfocament per a la percepció hàptica del relleu de models virtuals complexes mitjançant la simulació de les forces d'interacció entre la superfície i un element de contacte. La proposta contribueix a l'estat de l'art de la recerca en aquesta àrea incrementant l'eficiència i la fidelitat de la interacció hàptica amb grans malles de triangles. La detecció de col·lisions amb malles denses (centenars de milers de triangles) limita la velocitat de resposta hàptica degut al gran nombre d'avaluacions d'intersecció cara-dispositiu hàptic que s'han de realitzar. Es van identificar diferents alternatives per a incrementar el rendiment hàptic: arquitectures de software i estructures de dades específiques, algorismes de detecció de col·lisions i reproducció hàptica de relleu superficial. En aquesta tesi es presenten contribucions en alguns d'aquests aspectes. S'ha proposat una estructura completa de components per a transformar aplicacions de Realitat Virtual en Ambients Col·laboratius de Realitat Virtual (CRVEs) multithread en xarxa. L'arquitectura proposada inclou: una topologia escalable punt a punt per a compartir escenes; components multithread per a visualització gràfica, interacció amb usuaris i comunicació en xarxa; un model d'interfície d'usuari col·laboratiu per a la gestió de sessions; i rols intercanviables de l'usuari amb perspectives de múltiples càmeres, presència d'avatars i anotacions compartides. L'estructura s'ha validat convertint el navegador ALICE en un CVRE completament funcional, mostrant un bon rendiment en la manipulació col·laborativa de models complexes. Per a incrementar l'eficiència del càlcul de col·lisions, s'ha proposat un algorisme que treballa en un espai conforme R{4,1} (5D) que permet detectar col·lisions entre punts, segments, triangles i volums. Aquest algorisme s'ha implementat en GPU per obtenir una execució paral·lela més ràpida. Els resultats mostren reduccions en el temps de càlcul de col·lisions permetent interactivitat. Per a la percepció hàptica de malles complexes que modelen objectes rugosos, s'han proposat diferents algorismes i estructures de dades. Les denominades Mesoestructures Híbrides de Rugositat (HRM) permeten substituir els detalls geomètrics d'una cara (rugositats) per dues textures: de normals i d'alçades. La percepció hàptica s'aconsegueix modulant la força de resposta entre el dispositiu hàptic i la HRM. Els tests per avaluar experimentalment l'eficiència del càlcul de col·lisions i la percepció hàptica utilitzant HRM respecte a modelar les rugositats amb geometria, van mostrar que la tècnica proposada va ser encertada, permetent percebre detalls 3D correctes a altes tases de mostreig. El mètode es va estendre per a representar rugositats d'objectes. Es proposa substituir l'objecte per un model simplificat i un atles de mesoestructures en el que s'usen textures de normals i de relleus (HyRMA). Aquest atles s'obté a partir de la diferència en el detall de la superfície entre dos malles del mateix objecte: l'original i la simplificada. A partir d'un triangle de la malla simplificada es construeix un prisma, definit pels vèrtexs del triangle i les seves normals, que engloba el relleu de la malla original sobre el triangle. Les alçades i normals dins del prisma es transformen des de l'espai de volum a l'espai ortogonal tangent, amb mètode novedós i eficient que calcula les coordenades baricèntriques relatives al prisma, per a guardar el mapa de textures transformat en un atles ordenat. La percepció hàptica s'assoleix detectant les col·lisions entre el dispositiu hàptic i l'atles, i modulant la força de resposta d'acord al resultat de la col·lisió. El mètode s'ha validat numèricament, estadística i perceptual en tests amb usuaris, aconseguint una correcta i interactiva sensació tàctil dels objectes simulats mitjançant la mesoestructura de les mallesEn esta tesis se presenta un enfoque novedoso para la percepción háptica del relieve de modelos virtuales complejos mediante la simulación de las fuerzas de interacción entre la superficie y un elemento de contacto. La propuesta contribuye al estado del arte de investigación en este área incrementando la eficiencia y fidelidad de interacción háptica con grandes mallas de triángulos. La detección de colisiones con mallas geométricas densas (cientos de miles de triángulos) limita la velocidad de respuesta háptica debido al elevado número de evaluaciones de intersección cara-dispositivo háptico que deben realizarse. Se identificaron diferentes alternativas para incrementar el rendimiento háptico: arquitecturas de software y estructuras de datos específicas, algoritmos de detección de colisiones y reproducción háptica de relieve superficial. En esta tesis se presentan contribuciones en algunos de estos aspectos. Se ha propuesto una estructura completa de componentes para transformar aplicaciones aisladas de Realidad Virtual en Ambientes Colaborativos de Realidad Virtual (CRVEs) multithread en red. La arquitectura propuesta incluye: una topología escalable punto a punto para compartir escenas; componentes multithread para visualización gráfica, interacción con usuarios y comunicación en red; un modelo de interfaz de usuario colaborativo para la gestión de sesiones; y roles intercambiables del usuario con perspectivas de múltiples cámaras, presencia de avatares y anotaciones compartidas. La estructura se ha validado convirtiendo el navegador ALICE en un CVRE completamente funcional, mostrando un buen rendimiento en la manipulación colaborativa de modelos complejos. Para incrementar la eficiencia del cálculo de colisiones, se ha propuesto un algoritmo que trabaja en un espacio conforme R4,1 (5D) que permite detectar colisiones entre puntos, segmentos, triángulos y volúmenes. Este algoritmo se ha implementado en GPU a efectos de obtener una ejecución paralelamás rápida. Los resultadosmuestran reducciones en el tiempo de cálculo de colisiones permitiendo respuesta interactiva. Para la percepción háptica de mallas complejas que modelan objetos rugosos, se han propuesto diferentes algoritmos y estructuras de datos. Las denominadasMesoestructuras Híbridas de Rugosidad (HRM) permiten substituir los detalles geométricos de una cara (rugosidades) por una textura de normales y otra de alturas. La percepción háptica se consigue modulando la fuerza de respuesta entre el dispositivo háptico y la HRM. Los tests realizados para evaluar experimentalmente la eficiencia del cálculo de colisiones y la percepción háptica utilizando HRM respecto a modelar las rugosidades con geometría, mostraron que la técnica propuesta fue acertada, permitiendo percibir detalles 3D correctos a altas tasas de muestreo. Este método anterior es extendido a un procedimiento global para representar rugosidades de objetos. Para hacerlo se propone sustituir el objeto por un modelo simplificado y un atlas de mesostructuras usando texturas de normales y relieves (HyRMA). Este atlas se obtiene de la diferencia en detalle de superficie entre dos mallas del mismo objeto: la original y la simplificada. A partir de un triángulo de la malla simplificada se construye un prisma definido por los vértices del triángulo a lo largo de sus normales, que engloba completamente el relieve de la malla original sobre este triángulo. Las alturas y normales dentro de cada prisma se transforman del espacio de volumen al espacio ortoganal tangente, usando un método novedoso y eficiente que calcula las coordenadas baricéntricas relativas a cada prisma para guardar el mapa de texturas transformado en un atlas ordenado. La percepción háptica se consigue detectando directamente las colisiones entre el dispositivo háptico y el atlas, y modulando la fuerza de respuesta de acuerdo al resultado de la colisión. El procedmiento se ha validado numérica, estadística y perceptualmente en ensayos con usuarios, consiguiendo a tasas interactivas la correcta sensación táctil de los objetos simulados mediante la mesoestructura de las mallas, con alguna pérdida muy puntual de detall

Playful haptic environment for engaging visually impaired learners with geometric shapes

This thesis asserts that modern developments in technology have not been used as extensively as they could to aid blind people in their learning objectives. The same could also be said of many aspects of other areas of their lives. In particular in many countries blind students are discouraged from learning mathematics because of the intrinsically visual nature of many of the topics and particularly geometry. For many young people mathematics is also not a subject that is easily or willingly tackled. The research presented here has thus sort to answer whether a playful haptic environment could be developed which would be attractive to blind users to learn and interact with geometric concepts. In the study a software tool using a haptic interface was developed with certain playful characteristics. The environment developed sought to give the blind users practice in interacting with three dimensional geometric shapes and the investigation of the size of these shapes and their cross-section. The playful elements were enhanced by adding elements of competition such as scores and time limits which promote competition between the users. The tests have shown that blind users can easily use the system to learn about three dimensional shapes and that practice increases their confidence in recognising shape and size of these objects