Functional Analysis of Haptic Devices Damien Courouss, Jean-Loup - PowerPoint PPT Presentation

Functional Analysis of Haptic Devices Damien Couroussé, Jean-Loup Florens ACROE & ICA Laboratory Grenoble, France ICA Laboratory (Computer Arts Lab.)

Introduction • Gesture is a very versatile phenomenon • There are many different Haptic Devices • There are many applications of Haptics / Haptic Devices Functional Analysis of Haptic Devices -3- Enactive/07, November 14 th , 2007, Grenoble

Introduction ? Human Functional Analysis of Haptic Devices -4- Enactive/07, November 14 th , 2007, Grenoble

Introduction • The particularity of Haptics is the Mechanical Coupling between the Human and the (manipulated) Object Natural situation Object Human Functional Analysis of Haptic Devices -5- Enactive/07, November 14 th , 2007, Grenoble

Introduction • The particularity of Haptics is the Mechanical Coupling between the Human and the (manipulated) Object Natural situation Object Human Virtual Object Haptic Simulation Mediated situation Human Algorithm Device Functional Analysis of Haptic Devices -6- Enactive/07, November 14 th , 2007, Grenoble

Natural Situation Mediated Situation Haptic Object H O O H Device + Robot Mechanical Coupling Haptic Human H O H O Device + Robot Haptic Interaction H O H O Device + Robot Haptic Task H O H O Device + Robot Functional Analysis of Haptic Devices -7- Enactive/07, November 14 th , 2007, Grenoble

Object-based functional approach Haptic Object H O O H Device + Robot Haptic Human H O O H Device + Robot Haptic Interaction H O H O Device + Robot Haptic H O Task H O Device + Robot Functional Analysis of Haptic Devices -8- Enactive/07, November 14 th , 2007, Grenoble

Object-Based functional approach Haptic Object H O H O Device + Robot Haptic O O Device + Robot • Observation of the Object as a separate object • The Haptic Device is part of the Object in the mediated situation Examples: – Transparency [D. Lawrence et al.] – Passivity [E. Colgate et al.] Functional Analysis of Haptic Devices -9- Enactive/07, November 14 th , 2007, Grenoble

Human-based functional approach Haptic Object H O O H Device + Robot Haptic Human H O O H Device + Robot Haptic Interaction H O H O Device + Robot Haptic H O Task H O Device + Robot Functional Analysis of Haptic Devices -10- Enactive/07, November 14 th , 2007, Grenoble

Human-based functional approach Haptic Human H O H O Device + Robot Haptic Human Human Device • Symmetrical of the Object-based approach • Related to the field of psychophysics • Two complementary positions: 1. The Haptic Device is a new mean to study the human sensory- motricity 2. The mediated situation is a new situation for the Human Functional Analysis of Haptic Devices -11- Enactive/07, November 14 th , 2007, Grenoble

Interaction-based functional approach Haptic Object H O O H Device + Robot Haptic Human H O O H Device + Robot Haptic Interaction H O H O Device + Robot Haptic H O Task H O Device + Robot Functional Analysis of Haptic Devices -12- Enactive/07, November 14 th , 2007, Grenoble

Interaction-based functional approach Haptic Interaction H O O H Device + Robot O H • Observation of the particular phenomena emerging from the coupling • No dissociation of the connection H-O • The approach the mostly related to Enaction Examples • Instrumental playing • Dynamics-based multisensory simulation Functional Analysis of Haptic Devices -13- Enactive/07, November 14 th , 2007, Grenoble

Task-based functional approach Haptic Object H O O H Device + Robot Haptic Human H O O H Device + Robot Haptic Interaction H O H O Device + Robot Haptic H O Task H O Device + Robot Functional Analysis of Haptic Devices -14- Enactive/07, November 14 th , 2007, Grenoble

Task-based functional approach Haptic Task H O H O Device + Robot Line Environment / E E H H Immersion Of Tool Mobility E E H H T T Limit Command H E H E C C Of the Virtual Object O O H H manipulation Environment Functional Analysis of Haptic Devices -15- Enactive/07, November 14 th , 2007, Grenoble

Task-based approach: Environment/Immersion Haptic Task H O H O Device + Robot Environment / E E H H Immersion • The line of mobility is between H and E • Mediated situation = immersive situation: a part of the Human body is situated inside the VE • Need of a high transparency Example: Exoskeletons, locomotion devices Functional Analysis of Haptic Devices -16- Enactive/07, November 14 th , 2007, Grenoble

Task-based approach: Tool / Command Haptic Task H O H O Device + Robot E E H H Tool T T Command H E H E C C • Vis-à-vis situations (no immersion) • Involves an intermediate object between H and E • A part of the Haptic Device is located in the Real World, while the other part is in the VE • No need for high transparency Functional Analysis of Haptic Devices -17- Enactive/07, November 14 th , 2007, Grenoble

Task-based approach: Object Haptic Task H O H O Device + Robot Object O O H H manipulation • Line of Mobility situated between H and O • Limit of the VE is concomitant with the limit of O the Haptic device must present very particular properties • Example: FEELEX, VOLFLEX, rheological devices Functional Analysis of Haptic Devices -18- Enactive/07, November 14 th , 2007, Grenoble

Conclusion • Typology based on the functional properties of Haptic Devices and research works • Four approaches: H O H O HD – Object – Human H O H O HD – Interaction – Task H O H O HD •Environment / Immersion H O H O HD •Tool •Command •Object manipulation Functional Analysis of Haptic Devices -19- Enactive/07, November 14 th , 2007, Grenoble

Conclusion SEPARATED TECHNOLOGICAL AREAS Environment / E E H H Immersion Tool E E H H T T Command H E H E C C Object O O H H manipulation Functional Analysis of Haptic Devices -20- Enactive/07, November 14 th , 2007, Grenoble

Thanks for your attention! Functional Analysis of Haptic Devices -21- Enactive/07, November 14 th , 2007, Grenoble