Advanced Haptic Systems
CMPUT 605
Lecture
Hours: |
Weekly
meeting Monday from 16h00 to 17h00 |
Lecture
Room: |
ATH
411 |
Lab
Room: |
AMMI
Laboratory |
Instructor: |
|
Office: |
Athabasca
Hall 411 |
Phone: |
780-709-1260 |
Email: |
|
Course
Text: |
Weekly
readings |
Course
Web Site: |
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.
A student who successfully completes this course
should be able to:
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 Date |
Topics |
Slides |
Extras |
Jan. 21 |
Introduction |
||
Jan. 28 |
Kinesthetic Human
Haptic Tactile
Perception |
|
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 |
|
|
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 |
|
Assignment 3 Quanser QuaRC Interface to Omni
Phantom Test
and Document each demo in the following Quanser Courseware |
Mar. 4 |
Teleoperation-I |
|
|
Mar. 11 |
Teleoperation-II |
||
Mar. 18 |
Haptic
Guidance Systems |
Haptic Guidance in Medical
Training |
A
Review of Simulators with Haptic Devices for Medical Training A Survey of Visuo-Haptic Simulation
in Surgical Training |
Mar. 25 |
Proxy
Haptic Systems |
|
|
Apr. 1 |
Statistics
and Usability Study |
Read Paper 10 |
|
Apr. 8 |
Project Presentations |
|
|
Papers
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|