VIRTUAL UNIVERSE HAPTIC TECHNOLOGY

SEMINAR REPORT

Submitted by,
MOHAMMED NEBIN B S
REG.NO: MUS15CS016

to
the APJ Abdul Kalam Technological University
in partial fulfilment of the requirements for the award of the Degree
of
Bachelor of Technology
In
Computer Science and Engineering

DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING

MUSLIM ASSOCIATION COLLEGE OF ENGINEERING
VENJARAMOODU THIRUVANANTHAPURAM
KERALA
NOVEMBER 2018

1
 DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING
MUSLIM ASSOCIATION COLLEGE OF ENGINEERING
VENJARAMOODU

CERTIFICATE

This is to certify that the seminar entitled ‘VIRTUAL UNIVERSE AND

HAPTICTECHNOLOGY’ is a bonafide record of the seminar done by MOHAMMED
NEBIN B S (REG.NO: MUS15CS016), under my supervision and guidance, in partial
fulfilment for the award of Degree of Bachelor of Technology in Computer Science and
Engineering from the A P J Abdul Kalam Technological University.

Mrs. REMYA R S Mrs.SHAMNA B

(Guide) (Co-ordinator)
Assistant professor Assistant professor
Dept. Of Computer Engineering Dept. Of Computer Engineering
Muslim Association College of Muslim Association College of
Engineering, Venjaramoodu Engineering, Venjaramoodu
Thiruvananthapuram Thiruvananthapuram

Mrs. ASWATHY S U
Head of the Department,
Dept. Of Computer Engineering
Muslim Association College of
Engineering, Venjaramoodu
Thiruvananthapuram

i
i
 ACKNOWLEDGEMENT

My first and foremost thanks go to God Almighty who made me capable in completing
my seminar successfully.
I would like to express my sincere thanks to Mrs. REMYA R S, Assistant professor of
the Department of Computer Engineering for her valuable guidance, advice,
encouragement and the creative suggestions for timely completion of the seminar.
I am extremely happy to mention a great word of gratitude to Prof. ASWATHY S U,
Head of the Department of Computer Science and Engineering for providing me with
all facilities for the completion of this seminar.
Finally, my hearty thanks to all the staff members of our department, friends and family
members for their encouragement and sincere cooperation.

With Gratitude,
MOHAMMED NEBIN B S

i
 ABSTRACT

Users are given the illusion that they are touching or Manipulating a real Physical
Object ‘Haptics’ is a technology that adds the sense of touch to virtual
environments.Virtualp universe simulation provides platform for haptic tech. This
seminar discusses the important concepts in Haptics,Virtual universe some of the
most commonly used haptics systems like ‘Phantom’, ‘Cyber glove’, ‘Novint
Falcon’ and such similar devices. Following this, a description about how sensors
and actuators are used for tracking the position and movement of the haptic
systems, is provided.The different types of force rendering algorithms are discussed
next. The seminar explains the blocks in force rendering. Then a few applications
of haptic systems are taken up for discussion.

ii
 CONTENTS
Content Page No.

ACKNOWLEDGEMENT ii
Abstract iii
Index
List of figures
CHAPTER 1 INTRODUCTION
1.1 What is Haptics?
1.2 History of Haptics.
CHAPTER 2 SYSTEM WORKING
2.1Basic System Configuration.
2.2Haptic Information
2.3Creation of Virtual environment (Virtual reality).
2.4Haptic feedback
CHAPTER 3 SYSTEM DEVICES
3.1Virtual universe simulation/ Tele-robotics based devices
3.1.1 Exoskeletons and Stationary device
3.1.2 Gloves and wearable devices
3.1.3 Point-source and Specific task devices
3.1.4 Locomotion Interfaces
3.2Feedback devices
3.2.1 Force feedback devices
3.2.2 Tactile displays
3.3 Commonly
3.3.1 PHANTOM
3.3.2 Cyber glove
3.3.2.1 Mechanical structure of a Cyber glove
3.3.2.2 Control of Cyber glove
CHAPTER 4 SYSTEM RENDERING
4.1 Principle of haptic interface
4.2Characteristics desirable for haptic interfaces
4.3 Creation of an AVATAR

2
 4.4 System architecture for haptic rendering
4.5 Computing contact-response forces
4.6 Geometry-dependant force-rendering algorithms
4.7 Surface property-dependent force-rendering algorithms
4.8 Haptic interaction techniques
CHAPTER 5 APPLICATIONS, LIMITATION & FUTURE VISION
5.1 Application
5.1.1 Graphical user interfaces
5.1.2 Surgical Simulation and Medical Training
5.1.3 Military Training in virtual environment
5.1.4 Telerobotics
5.2 LIMITATION
5.3 FUTURE VISION
CONCLUSION
REFERENCES

3
4
5
6
 INDEX
LIST OF FIGURES

Fig. No. Topics

Fig. 2.1 Basic Configuration of Haptics
Fig. 2.2 Virtual environment
Fig. 2.3 Haptic Feedback Block Diagram
Fig. 3.1 PHANTOMS (Haptic Devices)
Fig. 3.2 Cyber glove (Haptic Device)

7
Fig. 3.3 Cyber glove Mechanism
Fig. 3.4 Mechanical Structural of Cyber glove
Fig. 4.1 Haptics Rendering System
Fig. 4.2 Haptic Rendering Architecture
Fig. 5.1 Graphical Interface for LaptopGames
Fig. 5.2 Medical Training Purpose
Fig. 5.3 Virtual Environment in Military Training
Fig. 5.4 Military Training with help of
HapticsDevice
Fig. 5.5 Haptic-rendering Block Diagram