EE589 Haptic Enabled Systems

University of Washington

EE589 Haptic Enabled Systems (SLN 8739)

Prof. Blake Hannaford

Office: M434 Electrical Engineering Building
Phone: 3-2197
Email: Blake's email (spam protected) feel free to call.

Course Meetings:

MWF    9:30-10:20    EE1 037

exploded view of fingertip haptic device

Course E-Post Discussion Board

Lecture Schedule (updated 20-Feb)

Course Objectives

Haptic enabled systems are teleoperation or virtual reality systems which support the sense of touch and allow users to manipulate and palpate remote or virtual objects and environments. Applications of haptics include medical simulators, computer aided design systems (CAD), and games. The course will provide an introduction to the multidisciplinary field of haptic interfaces. Key ideas will be the scientific and technological factors which limit or enhance the user experience of haptic enabled systems.

Intended Audience

Graduate students and seniors in Engineering, Sciences, and Digital Arts. Programming experience in C or Java is required for the lab. Learning modes will include

Lecture
Lab - programming excercises with the Phantom Omni

We have six of these devices on order for the class.
Programming project.
Student paper reviews and presentations

EE589 Notes and Materials

All notes are Copyright by Blake Hannaford unless otherwise indicated.

Slides and lecture notes

Source Code

Required Reading:

Human Haptic Perception
1. Book Chapter.
2. Human Movement Control (contains some illustrations from Kandel and Schwartz).
Rendering
Device Technologies
- DC Motors
- Force Sensing

Supplemental Readings

PDF files are posted with permission of their authors.

Human Haptic Perception
- Books:
  - M.B. Carpenter and J. Sutin, "Human Neuroanatomy," Williams and Wilkins, Baltimore, 1983.
  - G. von Bekesy, "Sensory Inhibition," Princeton Univ. Press, 1967.
  - E.R. Kandel, J.H. Schwartz, "Principles of Neural Science," Elsevier/North-Holland, 1983.
  - G.A. Gescheider, "Psychophysics, The Fundamentals," Lawrence Erlbaum, New Jersy and London, 1997.
- Papers:
  - Hodgkin A.L. and Huxley, A.F. (1952) A quantitative description of membrane current and its application to conduction and excitation in nerve. J. Physiol. (Lond.) 117;500-544
  - S. Lederman and R. Klatzky, "Identifying Objects by Touch, an Expert System," Perception and Psychophysics, vol. 37, pp. 299-302, 1985.
  - S. Lederman and R. Klatzky, "Hand movements: a window into haptic object recognition," Cognitive Psychology, vol. 19, pp342-368, 1985.
  - S. Lederman and R. Klatzky, "Haptic Classification of Common Objects: Knowledge-Drive Exploration," Cognitive Psychology, vol. 22, pp421-459, 1990.
  - S.C. Venema, 'Experiments in Surface Perception Using a Haptic Display,' Ph.D. Thesis, University of Washington, Department of Electrical Engineering, April, 1999. See in particular sections 5.1 and 5.2 .
Rendering
- C. Basdogan, C.H. Ho, "Principles of Haptic Rendering for Virtual Environments" Tutorial Notes
- C. Basdogan, M. Srinivasan, "Haptic Rendering in Virtual Environments," Handbook of Virtual Environments, K.M. Stanney and M. Zyda Eds., Lawrence Erlbaum Assoc., pp 117-134, 2002.
Device Technologies

General Resources

Web sites
- Prof Allison Okamura: http://www.me.jhu.edu/~allisono/courses/530.651/. http://pegasus.me.jhu.edu/~allisono/.
- Prof. Cagatay Basdogan: http://network.ku.edu.tr/~cbasdogan/.
- Publications of Prof. C. Basdogan
Journals
- Haptics-e The Electronic Journal of Haptics Research
- IEEE Transactions on Robotics (formerly IEEE Trans. on Robotics and Automation).
.

Acknowledgements

We would like to thank the Department of Electrical Engineering, Samsung Advanced Technology Labs, and DXARTS, The Center for Digital Arts and Experimental Media.

Blake Hannaford, January 2005.

University of Washington