CS计算机代考程序代写 AI algorithm Introduction to haptics

haptic devices – 1 DOF
SAMSUNG / IMMERSION TECHNOLOGIES
5
7
haptic devices – 2 DOF
IMMERSION TECHNOLOGIES
6
8
1
haptic devices – 3/6 DOF
PHANTOM – Sensable Technologies OMEGA – Force Dimension
9
haptic devices – medical training
XITACT
1
10
haptic devices – bimanual interfaces
7
JPL
11
haptic devices – grasping capabilities
VIRTUAL TECHNOLOGIES
8
12
2

haptic devices – ultimate workstations
IMMERSION
9
13
haptic devices – golf trainer
GRADENER AND SASCH ORLIC, PGA GOLF PROFESSIONAAL
10
14
1
outline
• what is haptics ?
• current force feedback devices
• tactile rendering algorithms
• applications in the field of haptics • demonstrations
15
• no contacts
• no reaction forces
11
haptic rendering
virtual object cursor (sphere) (3 dof)
16
12
haptic rendering
• move cursor towards surface
virtual object cursor (sphere) (3 dof)
17
haptic rendering
virtual object cursor (sphere) (3 dof)
12
18
3

haptic rendering
• collision detected
virtual object cursor (sphere) (3 dof)
12
19
13
haptic rendering
• reaction force computed • force magnitude ?
F
virtual object (sphere)
cursor (3 dof)
20
14
haptic rendering
• spring model • F =ks d
F
d
virtual object (sphere)
cursor (3 dof)
21
haptic rendering
virtual object (sphere)
15
22
17
haptic rendering
virtual object cursor
?
23
17
haptic rendering
F
virtual object
cursor
d
24
4

haptic rendering
18
25
19
haptic rendering
26
haptic rendering
19
27
20
haptic rendering
?
28
20
haptic rendering
?
29
21
haptic rendering
30
5

22
haptic rendering
(object 1)
(object 2)
31
haptic rendering
?
23
(object 1)
(object 2)
32
24
haptic rendering
(object 1)
(object 2)
33
haptic rendering
?
25
34
haptic rendering
“pop through effect with thin objects”
26
35
Haptic Device and Avatar
avatar
(tool, cursor, virtual finger, god object, proxy)
“avatar: to follow the haptic device while respecting the laws of physics”
haptic device
36
6

Connecting the Device to the Avatar
avatar
haptic device
37
God Object Algorithm
avatar / haptic device
time: t
constraint
38
avatar
time: t
God Object Algorithm
check for any collision between the segment and the VR environment
haptic device
time: t + dt
constraint
39
avatar
time: t
God Object Algorithm
check for any collision between the segment and the VR environment
haptic device
time: t + dt
constraint
40
God Object Algorithm
check for any collision between the segment and the VR environment
avatar
time: t
constraint
collision
haptic device
time: t + dt
41
God Object Algorithm
check for any collision between the segment and the VR environment
avatar
time: t
constraint
collision
haptic device
time: t + dt
42
7

God Object Algorithm
avatar
time: t
constraint
haptic device
time: t + dt
43
God Object Algorithm
avatar / haptic device
44
God Object Algorithm
avatar
collision #1
constraint #1
haptic device
45
God Object Algorithm
constraint #1
46
God Object Algorithm
constraint #1 constraint #2
collision #2
47
God Object Algorithm
constraint #1 constraint #2
48
8

avatar
God Object Algorithm
collision #3 haptic device
49
Computing the Reaction Force
avatar
k
x
F = – kmaterial x
haptic device
50
Finger – Proxy Algorithm
The Haptic Display of Complex Graphical Environments
D. Ruspini, K. Kolarov and O. Khatib
51
demonstration
52
Experimental haptics
53
Experimental haptics
final project demo
54
9

1
outline
• what is haptics ?
• current force feedback devices
• tactile rendering algorithms
• applications in the field of haptics • demonstrations
55
Haptic Manipulation
STANFORD UNIVERSITY
56
Medical Field
PHILIPS MEDICAL
57
Medical Field
medical control interface
radiofrequency catheter ablation
strokeriskincreasedby ו
atrial fibrillation
stroke is 3rd leading cause of death in the US
heartbeatdisorders ו arrhythmia, tachycardia potentially dangerous
carefullydestroyabnormalareas ו ablation catheter delivers RF energy
minimalinvasiveprocedure ו requires high precision and reliability
58
medical field
59
1
outline
• what is haptics ?
• current force feedback devices
• tactile rendering algorithms
• applications in the field of haptics • demonstrations
60
10