Technical Seminar on PHANTOM
( hap tics
tech)

• Virtual reality is a form of human-computer
interaction providing a virtual environment
that one can explore through direct interaction
with our senses.
• It’s a mere imitation of the real world.
• BUT IS IT COMPLETE???

 Our primary interface with the real world is
our haptic sense (sense of touch).
 How important is our sense of touch?

 In order to complete the imitation of the real
world one should be able to interact with the
environment and get a feedback.
 User should be able to touch the virtual object
and feel a response from it.
 This feedback is called Haptic Feedback.

 Haptics, is the technology of adding the
sensation of touch and feeling to computers.
 A haptic device gives people a sense of touch
with computer-generated environments, so
that when virtual objects are touched, they
seem real and tangible.
 Understanding and enabling a compelling
experience of Presence not limited to "being
there", but extended to "being in touch" with
remote or virtual surroundings

Haptics is implemented through different type of
interactions with a haptic device
communicating with the computer. These
interactions can be categorized into the
different types of touch sensations a user can
receive:
 Tactile feedback
 Force feedback

• Virtual Reality Modeling language (VRML)
• Tells the interface how much force the haptic
device should return when it is touched.

10

 It works by monitoring the position of a users
fingertip or hand through optical encoders
attached to the device
 The geometric, material, kinematic, and
dynamic properties of the world we wish to
represent can be modeled and stored.
11

 Force and motion are the most important hap tic
cues
 Many meaningful hap tic interactions involve
little or no torque
 A small wrist-centered workspace is sufficient
12

A significant component of our ability to "visualize,"
remember and establish cognitive models of the
physical structure of our environment systems from
hap tic interactions with objects in the environment.
13

 The most significant design feature of the
Phantom is the passive, 3 degree-of-freedom
"thimble-gimbal.“
 Introducing three passive freedoms with the
"thimble-gimbal" greatly simplifies
programming as well as mechanism design
14

 Many meaningful hap tic interactions occur
within the volume that the finger tip spans
when the fore-arm is allowed only limited
movement
 PHANTOM should be constructed such that a
user could move the wrist freely without
encountering the edges of the workspace
15

 Free space must feel free
 Solid virtual objects must feel stiff
 Virtual constraints must not be easily saturated

 PHANTOM Mechanics
 Virtual Worlds
 Perceptual Observations

It allows users to touch, feel and manipulate
3-D objects in virtual environments.
18

• Common interface devices like mouse and
joystick are only input devices. No feedback.
• Haptic devices are input-output devices.
19

20

The Novint Falcon is the first haptic interface device to
bring 3D touch.
 As the Novint Falcon is moved, the computer keeps
track of a 3D cursor.
 When the 3D cursor touches a virtual object, the
computer registers contact with that object.
 And updates currents to motors in the device to create
an appropriate force to the device’s handle, which the
user feels.
21

 large and immobile systems that the user must
attach him or herself to.
 their large size and immobile nature allow for
the generation of large and varied force
information.
22

 The user can move naturally without being
weighed down by a large exoskeleton or
immobile device
 E.g.Hand Master
23

24

 In a confined space, simulate unrestrained
human mobility such as walking and running
for virtual reality.
25

 Tactile feedback tells us the texture of the
surfaces.
 Using this we can feel different surfaces and
slipping sensations can be produced.
26

 Virtual reality
 Virtual surgery Surgery
 Tele-presence Tele-presence
 Human assistive devices Slide 23
 Games & many more…
27

28

29

30

 The development of the PHANTOM device has
demonstrated the feasibility of a relatively low-
cost system which can provide convincing
sensations of interactions with virtual object
 With the evolution of this device ,today
multiple finger interactions and multiple user
interactions in shared workspaces with the
device
31

 www.globalhaptics.com
 www.worldhaptics.com
 www.nasa.gov
 www.immersion.com
 www.sensable.com
 www.sarcos.com
32

33 9/24/2022