Advanced Haptic Systems
CMPUT 605

 

General Information

Lecture Hours:

Weekly meeting Monday from 16h00 to 17h00

Lecture Room:

ATH 411

Lab Room:

AMMI Laboratory

Instructor:

Prof. Pierre Boulanger

Office:

Athabasca Hall 411

Phone:

780-709-1260

Email:

pierreb@cs.ualberta.ca

Course Text:

Weekly readings

Course Web Site:

http://www.cs.ualberta.ca/~pierreb/Haptics-2019.html


Course Information

CMPUT605: Advanced Haptic Systems

 

Graduate-level introduction to the field of haptics, focusing on teleoperated and virtual environments that are displayed through the sense of touch. Topics covered include human haptic sensing and control, design of haptic interfaces (tactile and force), haptics for teleoperation, haptic rendering and modeling of virtual environments, control and stability issues, proxy haptics, and medical applications such as tele-surgery and surgical simulation. Course work includes homework, programming assignments, reading and discussion of research papers, presentations, and a final project. Appropriate for students with interests in robotics, virtual reality, or computer-integrated surgical systems.


Course Objectives

A student who successfully completes this course should be able to:


Course Requirements

30%

Homework

There will be regular homework assignments

55%

Project

There will be one team-based semester project, culminating in a final report and a haptics "open-house" where the project will be demonstrated. Progress and check points before the final due date will count toward the final grade.

15%

Presentation

The presentation is a detailed lecture on a topic related to haptics, done individually. The lecturer also prepares a short discussion or group activity for after the talk.


Lecture Notes

Lecture Date

Topics

Slides

Extras

Jan. 21

Introduction

lecture00.pptx

Haptic Overview

Haptic General Principles

Haptic Perception Tutorial

Jan. 28

Kinesthetic

 

Human Haptic

 

Tactile Perception

kinesthetic

 

Human_Haptics

 

 

Tactile

Assignment 1

 

Read and Comment in Class Paper 1 and 2

 

Read Papers 5 and 6

Read Papers 7 and 8

 

Due Feb. 4

Feb. 4

Sensors and Actuators

sensor_actuator

 

Feb. 11

Setup Haptic Workstation

Assignment 2

Follow the Simulink and Quarc Primer at: Quarc-Matlab-Simulink-Primer.pdf

Due Feb. 25

Feb. 18

No Class Reading Week

 

Feb. 25

Haptic Rendering

 

Haptic Control

Haptic Rendering

 

Haptic_Control

QuaRC Documentation

Assignment 3

Quanser QuaRC Interface to Omni Phantom

QuaRC and Omni Phantom

Test and Document each demo in the following Quanser Courseware

Mar. 4

Teleoperation-I

Teleoperation1

 

Mar. 11

Teleoperation-II

Teleoperation2

Robotics in Surgery

Haptics: The Present and

Future of Artificial Touch

Sensation

Mar. 18

Haptic Guidance Systems

Haptic Guidance in Medical Training

 

Pinzon Thesis

A Review of Simulators with Haptic Devices for Medical Training

 

A Survey of Visuo-Haptic Simulation in Surgical Training

 

Shared control of a medical robot with haptic guidance

Mar. 25

Proxy Haptic Systems

 

 

Apr. 1

Statistics and Usability Study

Statistics

Usability Study

 Read Paper 10

Apr. 8

Project Presentations

 

 

 

Papers

  1. K. Morrow, D. Wilbern, R. Taghavi, M. Ziat. The Effects of Duration and Frequency on the Perception of Vibrotactile Stimulation on the Neck. IEEE Haptics Symposium, pp. 41-46, 2016. {pdf} (presented by Group 10 -- Cara, Mike, Sophia)
  1. E. Battaglia, J. P. Clark, M. Bianchi, M. G. Catalano, A. Bicchi, and M. K. O'Malley. The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand. IEEE World Haptics Conference, pp. 7-12 , 2017. {pdf} 
  1. F. Chinello, C. Pacchierotti, N. G. Tsagarakis, and D. Prattichizzo. Design of a Wearable Skin Stretch Cutaneous Device for the Upper Limb. IEEE Haptics Symposium, pp. 14-20, 2016. {pdf} 
  1. M. Gabardi, M. Solazzi, D. Leonardis, and A. Frisoli. A New Wearable Fingertip Haptic Interface for the Rendering of Virtual Shapes and Surface Features. IEEE Haptics Symposium, pp. 140-146, 2016. {pdf} 
  1. K. Higashi, S. Okamoto, Y. Yamada, H. Nagano, and M. Konyo. Hardness Perception by Tapping: Effect of Dynamic Stiffness of Objects. IEEE World Haptics Conference, pp. 37-41. 2017. {pdf} 
  1. S. H. Sim, B. Wu, and R. L. Klatzky. Improved typing on a at keyboard via tactile key-identity feedback. IEEE Haptics Symposium, pp. 319-324, 2016. {pdf} 
  1. Y. Gloumakov, T. Feix, I. M. Bullock, and A. M. Dollar. Object Stability during Human Precision Fingertip Manipulation. IEEE Haptics Symposium, pp. 84-91, 2016. {pdf}
  1. A. J. Spiers, and A. M. Dollar. Outdoor Pedestrian Navigation Assistance with a Shape-Changing Haptic Interface and Comparison with a Vibrotactile Device. IEEE Haptics Symposium, pp. 34-40, 2016. {pdf} 
  1. C. J. Ploch, J. H. Bae, C. C. Ploch, W. Ju, and M. R. Cutkosky. Comparing Haptic and Audio Navigation Cues on the Road for Distracted Drivers with a Skin Stretch Steering Wheel. IEEE World Haptics Conference, pp. 448-453, 2017. {pdf} 
  1. A. Teranishi, T. Mulumba, G. Karafotias, J. M. Alja'am, and M. Eid. Effects of Full/Partial Haptic Guidance on Handwriting Skills Development. IEEE World Haptics Conference, pp. 113-118, 2017. {pdf} 

 

 

Grading Policy