A Technical SeminarReport on

“HAPTIC TECHNOLOGY”

Submitted to The
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY
HYDERABAD
In partial fulfillment of the requirement for the award of the degree of

BACHELOR OF TECHNOLOGY
In

ELECTRONICS AND COMMUNICATION

ENGINEERING
By

KALYANKAR VENKATESH (185T1A0423)

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING
SIDDHARTHA INSTITUTE OF ENGINEERING AND
TECHNOLOGY
(Approved by AICTE, Accredited by NBA, Affiliated to JNTU, Hyderabad)
Vinobhanagar (V), Ibrahimpatnam (M), R.R. Dist. 501506.

2021-2022
 SIDDHARTHA INSTITUTE OF ENGINEERING AND
TECHNOLOGY
(Approved by AICTE, Accredited by NBA, Affiliated to JNTUH) Vinobha Nagar,
Ibrahimpatnam, Hyderabad, Telangana 501506
2021-2022
DEPARTMENT OF ELECTRONICS & COMMUNICATION
ENGINEERING

CERTIFICATE
This is to certify that the Technical seminar entitled “HAPTIC TECHNOLOGY” is
being submitted by KALYANKAR VENKATESH (185T1A0423) in partial fulfillment
for therequirement of the award of BACHELOR OF TECHNOLOGY in
ELECTRONICS AND COMMUNICATION ENGINEERING from the Jawaharlal
NehruTechnological University, Hyderabad, during the academic year 2021-2022.

TECHNICAL SEMINAR CO-ORDINATOR HEAD OF THE DEPARTMENT

Mr.G.SAIRAM Dr.FARHA ANJUM
M.Tech,MIAENG. M.Tech,Ph.D,MISTE,MIETE.
Assistant Professor Professor
 INDEX PAGE

INDEX III&IV
LIST OF FIGURES V

LIST OF CONTENTS PAGE NO.

CHAPTER 1 :ABSTRACT 1
CHAPTER 2: INTRODUCTION 2-3
2.1 WHAT IS "HAPTICS" 2
2.2 HISTORY OF HAPTICS 3

CHAPTER 3 : ABOUT HAPTICS TECHNOLOGY 4-13

3.1 BASIC SYSTEM CONFIGURATION. 4

3.2 HAPTIC FEEDBACK. 6

3.3 HAPTIC DEVICES 7

3.3.1 VIRTUAL REALITY/TELE-ROBOTICS BASED DEVICE 7

3.4 COMMLY USED HAPTIC INTER FACING DEVICES 8

3.4.1 PANTOM. 8

3.4.2 CYBER GLOVE. 8

3.4.3 MECHANICAL STRUCTURE OF A CYBER GLOVE. 9

3.4.4 CONTROL OF CYBER GLOVE. 10

3.5 HAPTIC RENDERING 11

3.5.1 PRINCIPLES OF HAPTIC INTERFACE. 12

3.5.2 SYSTEM ARCHITECTURE HAPTIC RENDERING 13

CHAPTER4: ADVANTAGES AND DISADVANTAGES 14

4.1 ADVANTAGES OF HAPTIC TECHNOLOGY. 14

4.2 DISADVANTAGES OF HAPTIC TECHNOLOGY. 14

III
CHAPTER5: APPLICATIONS 15-16
5.1 APPLICATIONS OF HAPTIC TECHNOLOGY 15

5.2 FUTURE SCOPE 15

CHAPTER6: CONCLUSION 17

CHAPTER7: REFERENCES 18

IV
 FIGURE AND TABLE INDEX

FIG NAME PAGE NO

FIG 2.1: Haptic device 1
FIG 3.1: Basic Configuration of Haptics 4
Fig 3.1.1 : Virtual environment 9
Fig3.2: Haptic Feedback Block Diagram
Fig3.4.1: Phantom (Haptic Device) 10
Fig 3.4.2: Cyber glove (Haptic Device)
Fig 3.4.3: Mechanical Structural of Cyber glove 13
FIG 3.5.1: Haptics Rendering System 14
FIG 3.5.2: Haptic Rendering Architecture 15

V
 HAPTIC TECNOLOGY

CHAPTER-1
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..

This seminar discusses the important concepts in Haptics, some of the most
commonly usedhaptics 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
retaken up for discussion

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CHAPTER-2
INTRODUCTION
2.1 What is ‘Haptics’?

Haptic technology refers to technology that interfaces the user with a virtual
environment via the sense of touch by applying forces, vibrations, and/or motions to
the user. This mechanical stimulation may be used to assist in the creation of virtual
objects (objects existing only in a computer simulation), for control of such virtual
objects, and toenhance the remote control of machines and devices (tele operators).
This emerging technology promises to have wide reaching applications as it already
has in some fields. For example, haptic technology has made it possible to
investigate in detail how the human sense of touch works by allowing the creation of
carefully controlled haptic virtual objects. These objects are used to systematically
probe human haptic capabilities, which would otherwise be difficult to achieve.
These new research tools contribute to our understanding of how touch and its
underlying brain functions work. Although haptic devices are capable of measuring
bulk or reactive forces that are applied by the user, it should not to be confused with
touch or tactile sensors that measure the pressure or force exerted by the user to the
interface.

The term haptic originated from the Greek word πτικός (ἁ haptics) meaning
pertaining to the sense of touch and comes from the Greek verb πτεσθαι (ἅ
haptesthai) meaning to“contact” or “touch.

2.2 History of Haptics

In the early 20th century, psychophysicists introduced the word haptic to label the
subfield of their studies that addressed human touch-based perception and
manipulation. In the 1970s and 1980s, significant research efforts in a completely
different field,robotics also began to focus on manipulation and perception by touch.
Initially concerned with building autonomous robots, researchers soon found that

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building a dexterous robotic hand was much more complex and subtle than their
initial naivehopes had suggested.

In time these The application’s main elements are: communities, one that sought to
understand the human hand and on that aspired to create devices with dexterity
inspired by human abilities found fertile

mutual interest in topics such as sensory design and processing, grasp control and
manipulation, object representation and haptic information encoding, and grammars
for describing physical tasks.

In the early 1990s a new usage of the word haptics began to emerge. The confluence
of several emerging technologies made virtualized haptics, or computer haptics
possible.
Much like computer graphics, computer haptics enables the display of simulated
objects to humans in an interactive manner. However, computer haptics uses a
display technology through which objects can be physically palpated.

Fig 2.2Haptic device

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CHAPTER -3
ABOUT HAPTICS TECHNOLOGY

3.1 Basic system configuration

Basically a haptic system consist of two parts namely the human part and the
machine part. In the figure shown above, the human part (left) senses and controls
the position of the hand, while the machine part (right) exerts forces from the hand
to simulate contact with a virtual object. Also both the systems will be provided with
necessary sensors, processors and actuators. In the case of the human system, nerve
receptors performs sensing, brain performs processing and muscles performs
actuation of the motion performed by the hand while in the case of the machine
system, the above mentioned functions are performed by the encoders, computer and
motors respectively.

Fig 3.1 Creation of Virtual environment (Virtual reality).

Virtual reality is the technology which allows a user to interact with a computer
simulated environment, whether that environment is a simulation of the real world or
an imaginary world. Most current virtual reality environments are primarily visual
experiences, displayed either on a computer screen or through special or
stereoscopic displays, but some simulations include additional sensory information,
such as sound through speakers or headphones. Some advanced, haptic systems

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gaming applications. Users can interact with a virtual environment or a virtual

artifact (VA)either through the use of standard input devices such as a keyboard and
mouse, or through multimodal devices such as a wired glove, the Phloem’s boom
arm, and omnidirectional treadmill. The simulated environment can be similar to the
real world, for example, simulations for pilot or combat training, or it can differ
significantly from reality, as in VR games. In practice, it is currently very difficult to
create a high-fidelity virtual reality experience, due largely to technical limitations
on processing power, image resolution and communication bandwidth. However,
those limitations are expected to eventually be overcome as processor, imaging and
data communication technologies become more powerful and cost-effective over
time. Virtual Reality is often used to describe a wide variety of applications,
commonly associated with its immersive, highly visual, 3D environments. The
development of CAD software, graphics hardware acceleration, head mounted
displays; database gloves and miniaturization have helped popularize the motion.
The most successful use of virtual reality is the computer generated 3-D simulators.
The pilots use flight simulators. These flight simulators have designed just like
cockpit of the airplanes or the helicopter. The screen in front of the pilot creates
virtual environment and the trainers outside the simulators commands the simulator
for adopt different modes. The pilots are trained to control the planes in different
difficult situations and emergency landing. The simulator provides the environment.
These simulators cost millions of dollars

Fig 3.1.1virtual environment

The virtual reality games are also used almost in the same fashion. The player has to
wear special gloves, headphones, goggles, full body wearing and special sensory
input devices. The player feels that he is in the real environment. The special

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goggles have monitors to see. The environment changes according to the moments
of the player. These games are very expensive

3.2 Haptic feedback

Virtual reality (VR) applications strive to simulate real or imaginary scenes with
which users can interact and perceive the effects of their actions in real time. Ideally
the user interacts with the simulation via all five senses. However, today’s typical
VR applications rely on a smaller subset, typically vision, hearing, and more
recently, touch. Figure below shows the structure of a VR application incorporating
visual, auditory, and haptic feedback.

The application’s main elements are:

The simulation engine, responsible for computing the virtual environments Behavior
over time;

auditory, and haptic rendering algorithms, which compute the virtual Environment’s
graphic, sound, and force responses toward the user; and

Transducers, which convert visual, audio, and force signals from the Computer into
a form the operator can perceive.
The human operator typically holds or wears the haptic interface device and
perceives audiovisual feedback from audio (computer speakers, headphones, and so
on) and visual displays (for example a computer screen or head-mounted
display).Whereas audio and visual channels feature unidirectional information and
energy flow (from the simulation

engine toward the user), the haptic modality exchanges information and energy in
two directions, from and toward the user. This bi-directionality is often referred to as
the single most important feature of the haptic interaction modality

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Fig 3.2 haptic feedback

3.3 HAPTIC DEVICES

A haptic device is the one that provides a physical interface between the user and the
virtual environment by means of a computer. This can be done through an
input/output device that senses the body’s movement, such as joystick or data glove.
By using haptic devices, the user can not only feed information to the computer but
can also receive information from the computer in the form of a felt sensation on
some part of the body.
This is referred to as a haptic interface.

These devices can be broadly classified into:-

3.3.1 Virtual reality/ Tele-robotics based devices:-

1. Exoskeletons and Stationary device

2. Gloves and wearable devices

1. Exoskeletons and Stationary devices

The term exoskeleton refers to the hard outer shell that exists on many creatures. In a
technical sense, the word refers to a system that covers the user or the user has to
wear. Current haptic devices that are classified as exoskeletons are large and
immobile systems that the user must attach him or her to.

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2. Gloves and wearable devices

These devices are smaller exoskeleton-like devices that are often, but not always,
take thedown by a large exoskeleton or other immobile devices. Since the goal of
building a haptic system is to be able to immerse a user in the virtual or remote
environment and it is important to provide a small remainder of the user’s actual
environment as possible.

The drawback of the wearable systems is that since weight and size of the devices
are a concern, the systems will have more limited sets of capabilities Visual

3.4 COMMONLY USED HAPTIC INTERFACING DEVICES:-

3.4.1 PHANTOM

It is a haptic interfacing device developed by a company named Sensible

technologies. It is primarily used for providing a 3D touch to the virtual objects. This
is a very high resolution 6 DOF device in which the user holds the end of a motor
controlled jointed arm. It provides a programmable sense of touch that allows the
user to feel the texture and shape of the virtual object with a very high degree of
realism. One of its key features is that it can model free floating 3 dimensional
objects.

Fig 3.4.1Phantom

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3.4.2 Cyber glove

The principle of a Cyber glove is simple. It consists of opposing the movement of

the hand in the same way that an object squeezed between the fingers resists the
movement of the latter. The glove must therefore be capable, in the absence of a real
object, of recreating the forces applied by the object on the human hand with (1) the
same intensity and (2) the same direction. These two conditions can be simplified by
requiring the glove to apply a torque equal to the interphalangeal joint. The solution
that we have chosen uses a mechanical structure with three passive joints which,
with the interphalangeal joint, make up a flat four-bar closed-link mechanism. This
solution use cables placed at the interior of the four-bar mechanism and following a
trajectory identical to that used by the extensor tendons which, by nature, oppose the
movement of the flexor tendons in order to harmonize the movement of the fingers

Fig 3.4.2cyber glove

Among the advantages of this structure one can cite

• Allows 4 doff for each finger
• Adapted to different size of the fingers
• Located on the back of the hand
• Apply different forces on each phalanx (The possibility of applying a lateral force on
the fingertip by motorizing the abduction/adduction joint)
• Measure finger angular flexion (The measure of the joint angles are Independent and
can have a good resolution given the important paths

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3.4.3 Mechanical structure of a Cyber glove

The glove is made up of five fingers and has 19 degrees of freedom 5 of which are
passive. Each finger is made up of a passive abduction joint which links it to the
base (palm) and to 9 rooted joints which, with the three interphalangian joints, make
up 3 closed-link mechanism with four bar and 1 degree of freedom. The structure of
the thumb is composed of only two closed-links, for 3 doff of which one is passive.
The segments of the glove are made of aluminum and can withstand high charges;
their total weight does not surpass 350 grams. The length of the segments is
proportional to the length of the phalanxes. All of the joints are mounted on
miniature ball bearings in order to reduce friction.

The mechanical structure offers two essential advantages: the first is the facility of
adapting to different sizes of the human hand. We have also provided for lateral
adjustment in order to adapt the interval between the fingers at the palm. The second
advantage is the presence of physical stops in the structure which offer complete
security to the operator. The force sensor is placed on the inside of a fixed support
on the upper part of the phalanx. The sensor is made up of a steel strip on which a
strain gauge was glued. The position sensor used to measure the cable displacement
is incremental optical encoders offering an average theoretical resolution equal to
0.1 deg for the finger joints.

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Fig 3.4.4Mechanical structure of a cyber glove

3..4.5Control of Cyber glove

The glove is controlled by 14 torque motors with continuous current which can
develop a maximal torque equal to 1.4 Nm and a continuous torque equal to 0.12
Nm. On each motor we fix a pulley with an 8.5 mm radius onto which the cable is
wound. The maximal force that the motor can exert on the cable is thus equal to 14.0
N, a value sufficient to ensure opposition to the movement of the finger. The
electronic interface of the force feedback data glove is made of PC with several
acquisition cards. The global scheme of the control is given in the figure shown
below. One can distinguish two command loops: an internal loop which corresponds
to a classic force control with
Jconstant gains and an external loop which integrates the model of distortion of the
virtual object in contact with the fingers. In this schema the action of man on the
position of the fingers joints is taken into consideration by the two control loops.

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3.5 HAPTIC RENDERING

3.5.1 Principle of haptic interface:

As illustrated in Fig. given above, haptic interaction occurs at an interaction tool of a

haptic interface that mechanically couples two controlled dynamical systems: the
haptic interface with a computer and the human user with a central nervous system.
The two systems are exactly symmetrical in structure and information and they sense
the environments, make decisions about control actions, and provide mechanical
energies to the interaction tool through motions.

Fig3.5.1Haptic rendering system

3.5.2 System architecture for haptic rendering:-

Haptic-rendering algorithms compute the correct interaction forces between the
haptic interface representation inside the virtual environment and the virtual objects
populating the environment. Moreover, haptic rendering algorithms ensure that the
haptic device correctly renders such forces on the human operator. Several
components compose typical haptic rendering algorithms. We identify three main
blocks, illustrated in Figure shown blow.

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Collision-detection algorithms detect collisions between objects and avatars in the

virtual environment and yield information about where, when, and ideally to what
extent collisions (penetrations, indentations, contact area, and so on) have occurred.

Force-response algorithms compute the interaction force between avatars and virtual
objects when a collision is detected. This force approximates as closely as possible
the contact forces that would normally arise during contact between real objects.
Force response algorithms typically operate on the avatars’ positions, the positions
of all objects in the virtual environment, and the collision state between avatars and
virtual objects. Their return values are normally force and torque vectors that are
applied at the device-body interface. Hardware limitations prevent haptic devices
from applying the exact force computed by the force-response algorithms to the
user. Control algorithms command the haptic device in such a way that minimizes
the error between ideal and applicable forces. The discrete-time nature of the haptic-
rendering algorithms often makes this difficult; as we explain further later in the
article. Desired force and torque vectors computed by force response algorithms feed
the control algorithms. The algorithms’ return values are the actual force and torque
vectors that will be commanded to the haptic device

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Fig 3.5.2 System architecture for haptic rendering

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CHAPTER 4

ADVANTAGES AND DISADVANTAGES

4.1 Advantages of Haptic Technology

1. Digital world can be experienced and perceived.

2. Easily accessible and user friendly.
3. Accuracy and precision is high.

4.2 Disadvantages of Haptic Technology

1. Involves complex designing as Haptic devices requires precision of touch.

2. High initial cost involved.

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CHAPTER-5

APPLICATIONS

5.1 Applications of Haptic Technology

1. Gaming Industry uses this technology widely in video gaming.

2. Medical Applications make use of Haptic interfaces which are designed for
medical simulation which helps in remote surgery and virtual medical training.

3. It is used in Military Applications where a virtual reality environment is simulated

to provide versatility in military field which includes training in virtual reality
environments.

4. It serves as Assistive Technology for the blind and visually impaired where the
visually disabled person feels the maps that are displayed over the network. Learning
mathematics is also made simpler by tracing touchable mathematical sources

5.2 FUTURE SCOPE

As haptics moves beyond the buzzes and thumps of today’s video games, technology
will enable increasingly believable and complex physical interaction with virtual or
remote objects. Already haptically enabled commercial products let designers sculpt
digital clay figures to rapidly produce new product geometry, museum goers feel
previously inaccessible artifacts, and doctors train for simple procedures without
endangering patients.
Past technological advances that permitted recording, encoding, storage,
transmission,editing, and ultimately synthesis of images and sound profoundly
affected society. A wide range of human activities, including communication,
education, art, entertainment, commerce, and science, were forever changed when we
learned to capture, manipulate, and create sensory stimuli nearly indistinguishable
from reality. It’s not unreasonable to expect that future advancements in haptics will
have equally deep effects. Though the field is still in its infancy, hints of vast,
unexplored intellectual and commercial territory add excitement and energy to a
growing number of conferences, courses, product releases, and invention efforts.

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need new business models. For example, can we create haptic content and authoring
tools that will make the technology broadly attractive?
Can the interface devices be made practical and inexpensive enough to make them
widely accessible? Once we move beyond single-point force-only interactions with
rigid objects, we should explore several technical and scientific avenues. Multipoint,
multiband, and multi-person interaction scenarios all offer enticingly rich
interactivity.

Adding sub-modality stimulation such as tactile (pressure distribution) display and

vibration could add subtle and important richness to the experience. Modeling
compliant objects, such as for surgical simulation and training, presents many
challenging problems to enable realistic deformations, arbitrary collisions, and
topological changes caused by cutting and joining actions.
Improved accuracy and richness in object modeling and haptic rendering will require
advances in our understanding of how to represent and render psychophysically and
cognitively germane attributes of objects, as well as algorithms and perhaps specialty
hardware (such as haptic or physics engines) to perform real-time computations.
Development of multimodal workstations that provide haptic, visual, and auditory
engagement will offer opportunities for more integrated interactions. We’re only
beginning to understand the psychophysical and cognitive details needed to enable
successful multimodality interactions. For example, how do we encode and render an
object so there is a seamless consistency and congruence across sensory
modalitiesthat is, doesit look like it feels? Are the object’s densities, compliance,
motion, and appearance familiar and unconsciously consistent with context? Are
sensory events predictable enough that we consider objects to be persistent, and can
we make correct inference about properties?
Hopefully we could get bright solutions for all the queries in the near future

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CHAPTER-6
CONCLUSION

Finally we shouldn’t forget that touch and physical interaction are among the
fundamental ways in which we come to understand our world and to effect changes
in it.This is true on a developmental as well as an evolutionary level. For early
primates to survive in a physical world, as Frank Wilson suggested, “a new physics
would eventually have to come into this their brain, a new way of registering and
representing the behavior of objects moving and changing under the control of the
hand. It is precisely such a representational systema syntax of cause and effect, of
stories, and of experiments, each having a beginning, a middle, and an end that one
finds at the deepest levels of the organization of human language.”

Our efforts to communicate information by rendering how objects feel through

haptic technology, and the excitement in our pursuit, might reflect a deeper desire to
speak with an inner, physically based language that has yet to be given a true voice.

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CHAPTER-7
REFERENCES

• Haptic Rendering: Introductory Concepts-Kenneth Salisbury and Francois Conti

StanfordUniversity. Federico Barbagli Stanford University and University of Siena,
Italy
• Laboratory for Human and Machine Haptics: The Touch Lab-Dr.
MandayamA.Srinivasan, Dr.S James Biggs, Dr. ManivannanMuniyandi, Dr. David
W. Schloerb, Dr. Lihua Zhou

• https://haptics.lcsr.jhu.edu/Research/Tissue_Modeling_and_Simulation

• http://74.125.153.132/search?q=cache:7bpkVLHv4UcJ:science.howstuffworks.com/
virtualmilitary.htm/printable+haptics+in+virtual+military+training&cd=9&hl=en&c
t=clnk&gl=in&client=firefox-a

• http://portal.acm.org/citation.cfm?id=1231041#abstract

• http://www.psqh.com/julaug08/haptics.html

• http://www.informit.com/articles/article.aspx?p=29226&seq

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