Ming C Lin Department of Computer Science University of North Carolina at Chapel Hill httpwwwcsuncedulin lincsuncedu Human Computer Interaction Human Computer Interaction Visual graphics vision ID: 725948
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Touch-Enabled InterfacesMing C. LinDepartment of Computer ScienceUniversity of North Carolina at Chapel Hillhttp://www.cs.unc.edu/~linlin@cs.unc.eduSlide2
Human Computer InteractionSlide3
Human Computer InteractionVisual (graphics, vision, etc)Auditory (sound)Haptic (touch-enabled)OthersSlide4
Common Touch-based InterfacesSlide5
Other Touch-based InterfacesSlide6
BenefitsAugment other senses Inherent 3D interfacesPhysically-based interactionAssisted Technology Natural & IntuitiveSlide7
What Is Haptic Rendering?SimulationHapticDevice
Robot
Virtual Reality
Master-Slave Systems
Human
Force Feedback
Tactile Feedback
Human-in-the-LoopSlide8
Inter-disciplinary ResearchComputerScienceElectricalEngineering
MechanicalEngineering
Haptic Rendering
Control and actuators
Mechanical design
Computation of the forces output by the deviceSlide9
Control of Haptic DevicesImpedance DevicesAdmittance devices
6-DOF Phantom
COBOTsSlide10
Engine Close-UpBoeing VPS SystemSlide11
Collaborative Haptic Design ReviewSlide12
Other ExamplesA Haptic Hybrid Controller for Virtual Prototyping of Vehicle Mechanisms (Ford, BMW, etc)3-DOF Cobot for Engineering Design (Northwestern University and Ford Automobile)Slide13
Medical SimulatorsEndoscopy simulator - Bronchoscopy and upper and lower gastrointestinal procedures on a single platform Endovascular simulator - Percutaneous coronary and peripheral interventions and cardiac rhythm management Hysteroscopy simulator - Skills assessment and myomectomy
Laparoscopy simulator - Skills, cholecystectomy, sterilization, ectopic pregnancy, and myomectomy suturing Vascular access simulator
- Adult, geriatric, and pediatric IV; PICC; phlebotomy; and skills assessment Slide14
Virtual Endoscopic Surgery TrainingVEST System One (VSOne) Technology 3 haptic (force-feedback) devices as mock-up endoscopic instruments 1 virtual endoscopic camera three new Basic Task Training (BTT) exercises - Find tubes/touch points/follow pathSlide15
Laparoscopic SurgeryMIT Touch LabSlide16
Molecular DynamicsVMD: Visual Molecular Dynamics
Humphrey, 1996Slide17
Haptic Vector FieldLawrence, Lee, Pau, Roman, NovoselovUniversity of Colorado at Boulder5 D.O.F. in5 D.O.F. out
Lawrence, 2000Slide18
dAb: Haptic Painting SystemSlide19
inTouch: 3D Haptic Painting
Painted Butterfly (~80k triangles)
http://
gamma.cs.unc.edu/inTouch
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inTouch: Multiresolution Modeling with Haptic Interface
http://
gamma.cs.unc.edu/inTouch
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ArtNova: Touch-Enabled 3D Model DesignInteractive texture paintingUser-centric viewingRealistic force response
http://
gamma.cs.unc.edu/ArtNova
Slide22
FreeForm DesignModel Galleryhttp://www.sensable.com/freeform-models.htmSlide23
Manipulating GearsSlide24
Basic Pipeline
Simulated Environment
Grasped Object
Scene
Haptic Device
User
motion
motionSlide25
Basic Pipeline
Simulated Environment
Scene
Haptic Device
User
motion
motion
position
Grasped ObjectSlide26
Basic Pipeline
Simulated Environment
Scene
Haptic Device
User
motion
motion
position
Grasped ObjectSlide27
Basic Pipeline
Simulated Environment
Scene
Haptic Device
User
motion
motion
position
Grasped ObjectSlide28
Basic Pipeline
Simulated Environment
Scene
Haptic Device
User
motion
motion
position
command
Grasped ObjectSlide29
Basic Pipeline
Simulated Environment
Scene
Haptic Device
User
motion
motion
position
command
forces
Grasped ObjectSlide30
Basic Pipeline
Simulated Environment
Scene
Haptic Device
User
motion
motion
position
command
forces
Grasped Object
DIRECT RENDERINGSlide31
Haptic Rendering Loop
F
user
force
command
F
device
positionSlide32
Problem of Haptic RenderingThe user becomes part of the simulation loop.1KHz is necessary so that the whole system doesn’t suffer from disturbing oscillations.Think of the analogy with numerical integration of a system with spring, mass and damper, where the frequency of the haptic loop sets the integration step.The Phantom haptic devices run their control loop at 1KHz.Consequence: we are very limited on the amount of computation that we can do.Slide33
Haptic Rendering Loop
Human-in-the-loop
High sensitivity to instabilities!!
High update rates required!!
(kHz for high stiffness)Slide34
Key ChallengesCollision DetectionChoice of representation and algorithmInteraction ParadigmPenalty forces vs. constraint-based optimizationVirtual coupling vs. direct renderingNewtonian dynamics / Quasi-static approximationSingle user vs. collaborationSlide35
Additional IssuesDecouple haptic and simulation loops?Use intermediate representations?Force type and qualityHow hard does hard contact feel?How free does free-space feel?Repulsive forces?Force artifacts / stability considerations