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A SYNOPSIS
ON
HAPTICS TECHNOLOGY
BY
HARSH SETH (B-632)SNEHAL SHAH (B-636)
BADRU SIDDIQUE (B-646)
Under the guidance of Internal Guide
Prof. Ekta Upadhyay
Department of Computer EngineeringRajiv Gandhi Institute of Technology
Juhu-Versova Link Road Versova, Andheri (w), Mumbai-53
University of Mumbai
April - 2011
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Department of Computer EngineeringRajiv Gandhi Institute of Technology
Juhu-Versova Link Road, Versova, Andheri(West) Mumbai -53
CERTIFICATE
This is to certify that
1. Harsh Seth (B-632)2. Snehal Shah (B-636)3. Badru Siddique (B-646)
Have satisfactory completed the seminar entitled
(HAPTIC TECHNOLOGY)
Towards the partial fulfillment of the
BACHELOR OF ENGINEERING
IN
(COMPUTER ENGINEERING)
as laid by University of Mumbai.
Guide H.O.D.(Prof. Ekta Upadhyaya) (Prof. S. B. Wankhade)
Principal(Dr.Udhav Bhosle)
Internal Examiner External Examiner
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ACKNOWLEDGEMENT
We would like to humbly acknowledge everyone who have helped us in
presenting a seminar on ‘HAPTIC TECHNOLOGY’ and guided us through the
depth of the technology, its working and development.
We are grateful to our Principal,Dr.Udhav Bhosale and our Head Of
Department ,Prof.Wankhede who gave us the opportunity to undertake the study
of the technology.
We are also very thankful to our guide Prof. Ekta Upadhyay for her valuable help,
guidance and encouragement in successful completion of the seminar.
We would also like to thank our colleagues, who often helped and gave us moral
support .
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INDEX
SR.NO TITLE PAGENO.
1 ABSTRACT 6
2 INTRODUCTION 7
3 REVIVEW OF LITERATURE 8
3.1 INTRODUCTION TO HAPTIC 8
3.2 EVOLUTIONARY STAGES OF INTERACTION 8
3.3 HISTORY OF HAPTICS 9
3.4 BASIC WORKING THEORY OF HAPTICS 10
3.5 HAPTIC INFORMATION 10
3.6 CLASSIFICATION OF HAPTIC DEVICES 11
3.7 COMMONLY USED HAPTIC DEVICES 11
3.8 APPLICATION 12
3.9 FUTURE SCOPE OF HAPTIC 12
4 EXISTING SYSTEM 13
4.1 TYPES OF HAPTIC DEVICES 13
4.2 PHANTOM DEVICE
4.3 APPLICATIONS OF HAPTICS 21
5 EXISTING SYSTEM ARHITECTURE 32
5.1 BASIC WORKING OF HAPTICS 32
5.2 HAPTIC INFORMATION 34
5.3 CREATION OF VIRTUAL ENVIRONMENT
5.4 HAPTIC FEEDBACK
5.5 THE
ORY BEHIND FORMATION OF HAPTIC
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5.6 WORKING OF HAPTIC DEVICES
5.6.1 PHANTOM
5.6.2 CYBERGLOVES
6 FUTURE SCOPE 41
6.1 TOUCHABLE HOLOGRAPHY 41
7 CONCLUSION 47
8 BIBLOGRAPHY 48
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CHAPTER 1
ABSTRACT
‘HAPTICS’ is a technology that adds the sense of touch to virtual environments.
Users are given the illusion that they are touching or manipulating a real physical
object.
This seminar discusses the important concepts in haptics, some of the most
commonly used haptics systems like ‘Phantom’, ‘Cyberglove’ 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.
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CHAPTER 2
INTRODUCTION
Haptic technology refers to technology that interfaces the user with a vir-
tual environment via the sense of touch by applying forces, vibrations, and/or mo-
tions 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 to enhance the remote control of machines and devices
(teleoperators). This emerging technology promises to have wide-reaching appli-
cations 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 allow-
ing 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 ἁπτικός (haptikos), mean-
ing pertaining to the sense of touch and comes from the Greek verb ἅπτεσθαι
(haptesthai) meaning to “contact” or “touch”.
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CHAPTER 3
REVIEW OF LITERATURE
3.1 INTRODUCTION TO HOLOGRAPHY
3.1.1 Fundamentals of photonics, basic principles of holography,
Tung H. Jeong ,College of Illinois
The document describes a hologram as a recording in a two- or three-dimensional
medium of the interference pattern formed when a point source of light (the
reference beam) of fixed wavelength encounters light of the same fixed
wavelength arriving from an object (the object beam).
3.1.2 en.wikipedia.org/wiki/Holography,
Holography is described as a technique that allows the light scattered from an
object to be recorded and later reconstructed so that it appears as if the object is in
the same position relative to the recording medium as it was when recorded.
3.2 BASIC HOLOGRAM
3.2.1 http://www.holo.com, Practical holography, Christopher
Outwater & Van Hamersveld
The document describes the hologram, that is, the medium which contains all the
information, is nothing more that a high contrast, very fine grain, black and white
photographic film.
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The most crucial part of creating the hologram is to capture the object in motion.
3.3 WORKING THEORY OF HOLOGRAM
3.3.1 science.howstuffworks.com,optics
The website describes the conventional process of holographic construction using
Laser,beam splitter,mirrors and holographic film(photographic emulsion).
3.3.2 A New Approach to Computer-Generated Holography,
M. C. King, A. M. Noll, and D. H. Berry
Computer generation of holograms requires computing a Fourier transform for
every discrete point in the hologram.
A digital computer and automatic plotter have been used to produce a series
of perspective views of a computer-stored three-dimensional object which is
slightly rotated for each view. All of these views are
combined together optically to produce a final hologram which can be
viewed in high ambient light conditions. The reconstructed image appears
three dimensional since each eye looks through a different holographic strip
corresponding to a different view of the three-dimensional object. The net
result is a technique requiring only seconds of computer time and some
possibly automated optical manipulations to produce extremely high quality
holograms of computer-stored three-dimensional objects.
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3.4 TYPES OF HOLOGRAMS
3.4.1 www.hologramsuppliers.com/types-of-hologram
The website describes the different types of holograms produced under different
processes and methods.
It states the types as Transmission holograms,Reflection holograms,Embossed
holograms,Integral holograms,Rainbow holograms,Computer generated
holograms and stereograms alongwith their properties,advantages ,disadvantages
and applications.
3.5 TECHNIQUES TO CREATE HOLOGRAMS
3.5.1 www.hologramexpert.com,
the website tells how to secure holograms against duplication and gives an
overview of the different techniques to create holograms.
3.5.2 www.holomail.com ,
describes the techniques to create holograms as follows
2D/3D Hologram is made up of multiple two dimensional layers with hologram
images visually placed one behind another with visual depth to produce an effect
of three-dimensional hologram structure. It has very good visual depth between
different layers and shininess on first layer.
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Dot-Matrix Hologram allows implementing unlimited computer generated dots in
hologram. This Dot-matrix hologram is the result of designs comprising many
tiny dots, where each dot is a separate diffraction grating. They create a beautiful
impact of variable images.
3.5.3 www.optalgio.cz/ebeam technologies,
describes ebeam lithography as the start of the silicon age of holography
Holograms created by this technology are recorded to a silicon substrate by a
perfectly focused controlled electron beam. This presents a very sensitive
instrument for recording the hologram structure, this is much finer that the laser
beam.
3.6 APPLICATIONS OF HOLOGRAPHY
3.6.1 www.holophile.com
A hologram can be made not only with the light waves of a laser, but also with
sound waves and other waves in the electro-magnetic spectrum. Holograms made
with X-rays or ultraviolet light can record images of particles smaller than visible
light, such as atoms or molecules. Microwave holography detects images deep in
space by recording the radio waves they emit. Acoustical holography uses sound
waves to "see through" solid objects
The website mentions the widely used applications of holography such as
Security
Entertainment
Tax Stamp
Holographic Interferometry
Medical Applications
Memory storage
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3.7 HOLOGRAPHIC TECHNOLOGY IN 3-D MOVIES
3.7.1 http://www.televisions.com/tv-articles/TV-in-3D.php,
provides a deeper insight into the current state of development of 3D TV and 3D
cinema.
It gives a detailed study about the two important factors involved for 3d motion
picture , the concept of parallax znd head tracking.
3.8 HOLOGRAPHIC TECHNOLOGY IN MEMORY
STORAGE
3.8.1 HOLOGRAPHIC MEMORY-A NEW GENERATION OF
STORAGE, RAHUL SINGH AND NIKHIL ENMUDI
The document describes the importance of holographic memory, its
construction ,storage capacity and conversions to machine readable forms.
3.9 FUTURE SCOPE OF HOLOGRAPHY
3.9.1 HOLOGRAPHIC PROJECTION TECHNOLOGIES OF THE
FUTURE, By Lance Winslow
The document illustrates the various future uses of holography such as
4D applications
Teaching and Training
Virtual Communication
Holographic tourism
Disaster management with holography
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CHAPTER 4
EXISTING SYSTEMS
4.1 TYPES OF 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 in-
put/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.
Haptic devices can be broadly classified into
4.1.1) Virtual reality/ Telerobotics based devices
i) Exoskeletons and Stationary device
ii) Gloves and wearable devices
iii) Point-sources and Specific task devices
iv) Locomotion Interfaces
4. 1.2) Feedback devices
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i) Force feedback devices
ii) Tactile displays
4.1.1. i) 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 herself to.
4. 1.1. ii) Gloves and wearable devices
These devices are smaller exoskeleton-like devices that are often, but not always,
take the down 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.
4. 1.1. iii) Point sources and specific task devices
This is a class of devices that are very specialized for performing a particular
given task. Designing a device to perform a single type of task restricts the appli-
cation of that device to a much smaller number of functions. However it allows
the designer to focus the device to perform its task extremely well. These task de-
vices have two general forms, single point of interface devices and specific task
devices.
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4. 1.1. iv) Locomotion interfaces
An interesting application of haptic feedback is in the form of full body Force
Feedback called locomotion interfaces. Locomotion interfaces are movement of
force restriction devices in a confined space, simulating unrestrained mobility
such as walking and running for virtual reality. These interfaces overcomes the
limitations of using joysticks for maneuvering or whole body motion platforms, in
which the user is seated and does not expend energy, and of room environments,
where only short distances can be traversed.
4. 1.2. i) Force feedback devices
Force feedback input devices are usually, but not exclusively, connected to com-
puter systems and is designed to apply forces to simulate the sensation of weight
and resistance in order to provide information to the user. As such, the feedback
hardware represents a more sophisticated form of input/output devices, comple-
menting others such as keyboards, mice or trackers. Input from the user in the
form of hand, or other body segment whereas feedback from the computer or
other device is in the form of hand, or other body segment whereas feedback from
the computer or other device is in the form of force or position. These devices
translate digital information into physical sensations.
4. 1.2. ii) Tactile display devices
Simulation task involving active exploration or delicate manipulation of a virtual
environment require the addition of feedback data that presents an object’s sur-
face geometry or texture. Such feedback is provided by tactile feedback systems
or tactile display devices. Tactile systems differ from haptic systems in the scale
of the forces being generated. While haptic interfaces will present the shape,
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weight or compliance of an object, tactile interfaces present the surface properties
of an object such as the object’s surface texture. Tactile feedback applies sensa-
tion to the skin.
4.2 PHANTOM:
Fig 4.2 Phantom Device
It is a haptic interfacing device developed by a company named Sensable tech-
nologies. 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 ob-
jects.
Haptic interaction uses both the sense of touch and movement. Haptic interfacing
device Developed by sensable technologies. Provides 3D touch : Adds a new di-
mension to human computer Interaction, namely haptic interaction. Haptic inter-
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action uses both the sense of touch and movement. Programs developed for the
phantom : Mathematical curves and surface , paint witn your fingers
4.3 APPLICATION OF HAPTICS
The following are the major applications of haptic systems.
4.3.1) Graphical user interfaces.
Video game makers have been early adopters of passive haptics, which takes ad-
vantage of vibrating joysticks, controllers and steering wheels to reinforce on-
screen activity. But future video games will enable players to feel and manipulate
virtual solids, fluids, tools and avatars. The Novint Falcon haptics controller is al-
ready making this promise a reality. The 3-D force feedback controller allows you
to tell the difference between a pistol report and a shotgun blast, or to feel the re-
sistance of a longbow's string as you pull back an arrow.
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Fig 4.3.1
Graphical user interfaces, like those that define Windows and Mac operating envi-
ronments, will also benefit greatly from haptic interactions. Imagine being able to
feel graphic buttons and receive force feedback as you depress a button. Some
touchscreen manufacturers are already experimenting with this technology. Nokia
phone designers have perfected a tactile touchscreen that makes on-screen buttons
behave as if they were real buttons. When a user presses the button, he or she
feels movement in and movement out. He also hears an audible click. Nokia engi-
neers accomplished this by placing two small piezoelectric sensor pads under the
screen and designing the screen so it could move slightly when pressed. Every-
thing, movement and sound is synchronized perfectly to simulate real button ma-
nipulation.
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4.3.2) Surgical Simulation and Medical Training.
Fig 4.3.2
Various haptic interfaces for medical simulation may prove especially useful for
training of minimally invasive procedures (laparoscopy/interventional radiology)
and remote surgery using teleoperators. In the future, expert surgeons may work
from a central workstation, performing operations in various locations, with ma-
chine setup and patient preparation performed by local nursing staff. Rather than
traveling to an operating room, the surgeon instead becomes a telepresence. A
particular advantage of this type of work is that the surgeon can perform many
more operations of a similar type, and with less fatigue. It is well documented that
a surgeon who performs more procedures of a given kind will have statistically
better outcomes for his patients. Haptic interfaces are also used in rehabilitation
robotics.
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In ophthalmology, "haptic" refers to a supporting spring, two of which hold an ar-
tificial lens within the lens capsule (after surgical removal of cataracts).
A 'Virtual Haptic Back' (VHB) is being successfully integrated in the curriculum
of students at the Ohio University College of Osteopathic Medicine. Research in-
dicates that VHB is a significant teaching aid in palpatory diagnosis (detection of
medical problems via touch). The VHB simulates the contour and compliance (re-
ciprocal of stiffness) properties of human backs, which are palpated with two hap-
tic interfaces (Sensable Technologies, Phantom 3.0).
Reality-based modeling for surgical simulation consists of a continuous cycle. In
the figure given above, the surgeon receives visual and haptic (force and tactile)
feedback and interacts with the haptic interface to control the surgical robot and
instrument. The robot with instrument then operates on the patient at the surgical
site per the commands given by the surgeon. Visual and force feedback is then
obtained through endoscopic cameras and force sensors that are located on the
surgical tools and are displayed back to the surgeon.
4.3.3) Military Training in virtual environment.
From the earliest moments in the history of virtual reality (VR), the United States
military forces have been a driving factor in developing and applying new VR
technologies. Along with the entertainment industry, the military is responsible
for the most dramatic evolutionary leaps in the VR field.
Virtual environments work well in military applications. When well designed,
they provide the user with an accurate simulation of real events in a safe,
controlled environment. Specialized military training can be very expensive,
particularly for vehicle pilots. Some training procedures have an element of
danger when using real situations. While the initial development of VR gear and
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software is expensive, in the long run it's much more cost effective than putting
soldiers into real vehicles or physically simulated situations. VR technology also
has other potential applications that can make military activities safer.
Fig 4.3.3.i
Today, the military uses VR techniques not only for training and safety enhance-
ment, but also to analyze military maneuvers and battlefield positions. In the next
section, we'll look at the various simulators commonly used in military training. -
Out of all the earliest VR technology applications, military vehicle simulations
have probably been the most successful. Simulators use sophisticated computer
models to replicate a vehicle's capabilities and limitations within a stationary --
and safe -- computer station.
Possibly the most well-known of all the simulators in the military are the flight
simulators. The Air Force, Army and Navy all use flight simulators to train pilots.
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Training missions may include how to fly in battle, how to recover in an
emergency, or how to coordinate air support with ground operations.
Although flight simulators may vary from one model to another, most of them
have a similar basic setup. The simulator sits on top of either an electronic motion
base or a hydraulic lift system that reacts to user input and events within the simu-
lation. As the pilot steers the aircraft, the module he sits in twists and tilts, giving
the user haptic feedback. The word "haptic" refers to the sense of touch, so a
haptic system is one that gives the user feedback he can feel. A joystick with
force-feedback is an example of a haptic device.
Some flight simulators include a completely enclosed module, while others just
have a series of computer monitors arranged to cover the pilot's field of view. Ide-
ally, the flight simulator will be designed so that when the pilot looks around, he
sees the same controls and layout as he would in a real aircraft. Because one air-
craft can have a very different cockpit layout than another, there isn't a perfect
simulator choice that can accurately represent every vehicle. Some training cen-
ters invest in multiple simulators, while others sacrifice accuracy for convenience
and cost by sticking to one simulator model.
Ground Vehicle Simulators -Although not as high profile as flight simulators,
VR simulators for ground vehicles is an important part of the military’s strategy.
In fact, simulators are a key part of the Future Combat System (FCS) -- the foun-
dation of the armed forces' future. The FCS consists of a networked battle com-
mand system and advanced vehicles and weapons platforms. Computer scientists
designed FCS simulators to link together in a network, facilitating complex train-
ing missions involving multiple participants acting in various roles.
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The FCS simulators include three computer monitors and a pair of joystick con-
trollers attached to a console. The modules can simulate several different ground
vehicles, including non-line-of-sight mortar vehicles, reconnaissance vehicles or
an infantry carrier vehicle
Fig 4.3.3.ii
The Army uses several specific devices to train soldiers to drive specialized vehi-
cles like tanks or the heavily-armored Stryker vehicle. Some of these look like
long-lost twins to flight simulators. They not only accurately recreate the handling
and feel of the vehicle they represent, but also can replicate just about any envi-
ronment you can imagine. Trainees can learn how the real vehicle handles in
treacherous weather conditions or difficult terrain. Networked simulators allow
users to participate in complex war games.
4.3.4) Telerobotics
In a telerobotic system, a human operator controls the movements of a robot that
is located some distance away. Some teleoperated robots are limited to very sim-
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ple tasks, such as aiming a camera and sending back visual images. In a more so-
phisticated form of teleoperation known as telepresence, the human operator has a
sense of being located in the robot's environment. Haptics now makes it possible
to include touch cues in addition to audio and visual cues in telepresence models.
It won't be long before astronomers and planet scientists actually hold and manip-
ulate a Martian rock through an advanced haptics-enabled telerobot, a high-touch
version of the Mars Exploration Rover.
CHAPTER 5
EXISTING SYSTEMS ARCHITECTURE
5.1 WORKING OF HAPTICS
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Fig. 5.1
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.
5.2 Haptic Information
Basically the haptic information provided by the system will be the combination
of (i) Tactile information and (ii) Kinesthetic information.
Tactile information refers the information acquired by the sensors which are
actually connected to the skin of the human body with a particular reference to the
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spatial distribution of pressure, or more generally, tractions, across the contact
area.
For example when we handle flexible materials like fabric and paper, we sense
the pressure variation across the fingertip. This is actually a sort of tactile
information. Tactile sensing is also the basis of complex perceptual tasks like
medical palpation, where physicians locate hidden anatomical structures and
evaluate tissue properties using their hands.
Kinesthetic information refers to the information acquired through the sensors in
the joints.
Interaction forces are normally perceived through a combination of these two
informations.
5.3 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 now include tactile information, generally known as force
feedback, in medical and 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 Polhemus 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
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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
Fig 5.3
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.
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 goggles have monitors to see. The environment changes according to the
moments of the player. These games are very expensive.
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5.4 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.
Fig 5.4
The application’s main elements are:
1) The simulation engine, responsible for computing the virtual environment’s
behavior over time;
2) Visual, auditory, and haptic rendering algorithms, which compute the virtual
environment’s graphic, sound, and force responses toward the user; and
3) 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.
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This bidirectionality is often referred to as the single most important feature of the
haptic interaction modality.
5.5 THEORY BEHIND FORMATION OF HAPTICS
In the early 20th century, psychophysicists introduced the word haptics 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 building a dexterous robotic hand was much more complex and subtle
than their initial naive hopes had suggested.
In time these two communities, one that sought to understand the human hand and
one 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.
5.6 WORKING OF HAPTIC DEVICES
5.6.1 PHANTOM
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Fig 5.6.1 Contact Display Design (Phantom)
Figure above shows the contact display design of a Phantom device. Here when
the user puts one of his finger in the thimble connected to the metal arm of the
phantom device and when the user move his finger, then he could really feel the
shape and size of the virtual 3 dimensional object that has been already
programmed inside the computer. The virtual 3 dimensional space in which the
phantom operates is called haptic scene which will be a collection of separate
haptic objects with different behaviors and properties. The dc motor assembly is
mainly used for converting the movement of the finger into a corresponding
virtual movement.
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5.6.2 CYBERGLOVE:
Fig 5.6.2 Cybergloves
The principle of a Cyberglove 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 interphalangian
joint.
The solution that we have chosen uses a mechanical structure with three passive
joints which, with the interphalangian joint, make up a flat four-bar closed-link
mechanism. This solution use cables placed at the interior of the four-bar mecha-
nism 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 harmo-
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nize the movement of the fingers. Among the advantages of this structure one can
cite:
Allows 4 dot 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 lat-
eral force on the fingertip by motorizing the abduction/adduction joint)
Measure finger angular flexion (The measure of the joint angles are inde-
pendent and can have a good resolution given the important paths traveled
by the cables when the finger shut.
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CHAPTER 6 FUTURE SCOPE
6.1 Military and Space Applications
Fig:-6.1
[3.9.1]Holographic Technologies for Military Applications make a lot
of sense really, especially if you consider the potential for data visual-
ization and table top holographic displays of the Net-Centric
Battlespace in 4D. Spectral Imaging is already being used in medicine
and life sciences now and this is only a start to it's over all potential
for military use. In fact if you read some of the Future Fighting Force
research papers and their References and Works Cited and do just a
little extra Background Reading of other Research Papers or peruse
the Media and surf some Internet Articles on the subject it should be
relatively simple to see that this is the future. Battle Simulation and
Scenarios can be played in advance so that everypossible contingency
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can be calculated.Holograms are a valuable tool on the battlefield it-
self also, consider Holographic Decoys and Deception Applications -
deception tactics are extremely important in wartime. Better yet, just
the fact that you have these technologies makes the enemy second
guess you and hesitate and the way that wars are fought now at light
speed, that is an extreme advantage.Many new soldiers are not quite
prepared for the reality of war and the gruesome sights they will
see, which often leave psychological and emotional scares. With
Holographic Imaging the soldier can be toughened up prior to battle
using hologram Virtual Reality Training and Mind Conditioning
equipment.
6.2 SPACE FLIGHT AND VIRTUAL REALITY SIMULATION TRAINING
Fig :-6.2
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Holographic Projection Technologies lend themselves very well to
virtual reality simulation training for space efforts. Celestial Bodies
are quite easy to make with holographic sciences and the spectral
imaging would be dynamite for training as well. This is perhaps the
most futuristic use of Holographic Applications and yet it is also one
of the most practical as well. These tools also provide all those on
Earth with some very excellent entertainment value while it
helps us better understand how our tax dollars are being used and all
the benefits that mankind is getting out of the advancement into space.
6.3 TRAFFIC, TRANSPORTATION AND DISTRIBUTION FLOWS
Holographic heads-up displays coming to your car’s rear, side view
mirrors
Fig:-6.3
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A new prototype of a holographic projector was unveiled last week
that makes a heads-up display on a car’s side or rear-view mirror a re-
ality.
Such a display would offer the ability to display your speed or dis-
tance between other vehicles in real time, superimposing it over the
actual road view depicted in the mirror.
The prototype, designed by U.K.-based Light Blue Optics, is far
smaller than current vehicular HUD systems and uses constructive
and destructive light interference to build the display, reports Technol-
ogy Review.
The device was presented at the Society for Information Display’s Ve-
hicles and Photons 2009 symposium, in Dearborn, Mich.
The benefits of such a device are twofold: First, this broadens the pos-
sible implementation of such technology, and second, it can help im-
prove driving safety by overlaying relevant information on top of the
actual road view, keeping drivers’ eyes where they need to be.
Oh, and as for the holographic part of it? True holograms have
nothing to do with it. The projectors use liquid crystal on silicon to
modulate beams of red, green, and blue laser light to create an image
— thus using principles of holography (projected image via light
interference) without actually creating a hologram.
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6.4 HOLOGRAMS ON CELL PHONES
Fig:-6.4
"We see 3D [video] technology moving into the cell phone, which
will have the ability to transmit information off the cell phone to cre-
ate a 3D hologram, projecting the hologram on any surface in life
size," said Paul Bloom, IBM's CTO for telecommunications research,
in a recent interview.
With a cell phone hologram, a user would be able to walk next to a
hologram of a friend, or a worker could project an enlarged 3D image
of a product needing repair to walk inside it and detect problems,
Bloom said. "The repair person could go inside the device instead of
looking it up in a manual," he said. "It has lots of implications."
IBM is already working on the cell phone hologram concept in its
labs, and Bloom predicted that a prototype should be ready in five
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years. The cameras that are being used to create early versions of
holograms still need to be miniaturized, and software needs to be writ-
ten to for receiving input from those cameras, he added.
The cell phone hologram concept is one technology listed on the fifth
annual "IBM Next Five in Five" list, which highlights five innova-
tions that the company predicts will change people's lives over the
next five years.
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CHAPTER 7 CONCLUSION
Holographic Technology and Spectral Imagining has endless
applications, as far as the human mind can imagine. These
technologies are indeed available and getting more robust in abilities
each year. Holographic Technologies are not just about art or business
communication, they are about safety, security, education, planning
and the strength of our civilization here and beyond.
From entertainment to data visualization we can see a bright future for
Holographic Projection and the bending and manipulation of light.
Those areas of society which most often bring about research and
development funding in technology are present amongst the many
potential applications for this science. It therefore stands to reason and
makes common sense that Holographic Technologies and Spectral
Imaging will become a very integral part of human societies and
civilizations in the future. We are certain of that.
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CHAPTER 8 BIBLOGRAPHY
1.)www.holo.com/practicalholography
2.)science.housestuffworks.com/optics
3.)www.hologramsuppliers.com/types-of-holograms
4.)www.hologramexperts.com
5.)www.holomail.com
6.)www.optalgio.cz/ebeamtechnology
7.)www.holophile.com
8.)www.televisions.com/tv_articles/TV_in_3d.php
9.)Dr. Bjelkhagen, Hans I. Advances in Display Holography. Proceed-
ings of the 7th International Symposium on Display Holography. 2006.
10.)Winslow, Lance. Hoverboards of the Future. Palm Desert, CA. On-
line Think Tank Publishing, 2007.
11.) Winslow, Lance. Truck Technologies of the Future. Palm Desert,
CA. Online Think Tank Publishing, 2007.
12.) Holographic History 1973-1977:
http://holonet.khm.de/visual_alchemy/holo_hist.html
13.)http://www.laserfx.com/Backstage.LaserFX.com/Newsletter/
BriefHistory.html
14.) http://www.holo.com/gaz/comments.html
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