Haptic technology, or 

haptics, is a tactile feedback technology that takes advantage of a user's sense of

touch by applying forces, vibrations, and/or motions to the user.[1] This mechanical stimulation may be
used to assist in the creation of virtual objects (objects existing only in a computer simulation), for
control of such virtual objects, and for the enhancement of the remote control of machines and devices
(teleoperators). It has been described as "(doing) for the sense of touch what computer graphics does
for vision".[2] Although haptic devices are capable of measuring bulk or reactive forces that are applied
by the user, it should not be confused with touch or tactile sensors that measure the pressure or force
exerted by the user to the interface.

Haptic technology has made it possible to investigate in detail how the human sense of touch works by
allowing the creation of carefully controlled haptic virtual objects. These objects are used to
systematically probe human haptic capabilities, which would otherwise be difficult to achieve. These
new research tools contribute to the understanding of how touch and its underlying brain functions
work (see References).

The word haptic, from the Greek ἁπτικός (haptikos), means pertaining to the sense of touch and comes
from the Greek verb ἅπτεσθαι haptesthai meaning to contact or to touch.

Contents

 [hide]

1 History

2 Current applications

2.1 Teleoperators and simulators

2.2 Computer and video games

2.3 Mobile consumer technologies

2.4 Haptics in virtual reality

2.5 Research

2.6 Medicine

2.7 Robotics

2.8 Arts and design

2.9 Actuators

3 Future applications

3.1 Holographic interaction

3.2 Future medical applications

4 See also
5 Notes

6 References

7 External links

[edit]History

One of the earliest forms of haptic devices is used in large modern aircraft that

use servomechanism systems to operate control systems. Such systems tend to be "one-way" in that
forces appliedaerodynamically to the control surfaces are not perceived at the controls, with the missing
normal forces simulated with springs and weights. In earlier, lighter aircraft without servo systems, as the
aircraft approached a stall the aerodynamic buffeting was felt in the pilot's controls, a useful warning to
the pilot of a dangerous flight condition. This control shake is not felt when servo control systems are
used. To replace this missing cue, the angle of attack is measured, and when it approaches the critical
stall point a "stick shaker" (an unbalanced rotating mass) is engaged, simulating the effects of a simpler
control system. This is known as haptic feedback. Alternatively the servo force may be measured and this
signal directed to a servo system on the control. This method is known as force feedback. Force feedback
has been implemented experimentally in some excavators. This is useful when excavating mixed
materials such as large rocks embedded in silt or clay, as it allows the operator to "feel" and work around
unseen obstacles, enabling significant increases in productivity.

[edit]Current applications
[edit]Teleoperators and simulators
Teleoperators are remote controlled robotic tools, and when contact forces are reproduced to the
operator, it is called "haptic teleoperation". The first electrically actuated teleoperators were built in the
1950s at the Argonne National Laboratory in the United States, by Raymond Goertz, to remotely handle
radioactive substances. Since then, the use of "force feedback" has become more widespread in all kinds
of teleoperators such as underwater exploration devices controlled from a remote location.

When such devices are simulated using a computer (as they are in operator training devices) it is useful
to provide the force feedback that would be felt in actual operations. Since the objects being manipulated
do not exist in a physical sense, the forces are generated using haptic (force generating) operator
controls. Data representing touch sensations may be saved or played back using such haptic
technologies.

Haptic simulators are currently used in medical simulators and flight simulators for pilot training (2004).

[edit]Computer and video games

Some simple haptic devices are common in the form of game controllers, in particular
of joysticks and steering wheels. At first, such features and/or devices used to be optional components
(like theNintendo 64 controller's Rumble Pak). Now many of the newer generation console controllers and
some joysticks feature built in devices (such as Sony's DualShock technology). An example of this feature
is the simulated automobile steering wheels that are programmed to provide a "feel" of the road. As the
user makes a turn or accelerates, the steering wheel responds by resisting turns or slipping out of control.
Another concept of force feedback is that of the ability to change the temperature of the controlling
device. This would prove especially efficient for prolonged usage of the device. However, due to the high
cost of such a technology and the power drainage it would cause, the closest many manufacturers have
come to realizing this concept has been to install air holes or small fans into the device to provide the
user's hands with ventilation while operating the device.

In 2007, Novint released the Falcon, the first consumer 3D touch device with high resolution three-
dimensional force feedback, allowing the haptic simulation of objects, textures, recoil, momentum,
physical presence of objects in games.[3][4]

[edit]Mobile consumer technologies

Tactile haptic feedback is becoming common in cellular devices. Handset manufacturers
like LG and Motorola are including different types of haptic technologies in their devices. In most cases
this takes the form of vibration response to touch. Alpine Electronics uses a haptic feedback technology
named PulseTouch on many of their touch-screen car navigation and stereo units. [5] The Google Nexus
One features "haptic feedback" according to their specifications. [6]

[edit]Haptics in virtual reality

Haptics are gaining widespread acceptance as a key part of virtual reality systems, adding the sense of
touch to previously visual-only solutions. Most of these solutions use stylus-based haptic rendering,
where the user interfaces to the virtual world via a tool or stylus, giving a form of interaction that is
computationally realistic on today's hardware. Systems are also being developed to use haptic interfaces
for 3D modeling and design that are intended to give artists a virtual experience of real interactive
modeling. Researchers from the University of Tokyo have developed 3D holograms that can be "touched"
through haptic feedback using "acoustic radiation" to create a pressure sensation on a user's hands. (See
Future Section) The researchers, led by Hiroyuki Shinoda, currently have the technology on display at
SIGGRAPH 2009 in New Orleans.[7]

[edit]Research

Some research has been done into simulating the different kinds of tactition by means of high-speed
vibrations or other stimuli. One device of this type uses a pad array of pins, where the pins vibrate to
simulate a surface being touched. While this does not have a realistic feel, it does provide useful
feedback, allowing discrimination between various shapes, textures, and resiliencies.

Several haptics APIs have been developed for research applications, such as Chai3D, OpenHaptics and
H3DAPI (Open Source).

[edit]Medicine

Various haptic interfaces for medical simulation may prove especially useful for training of minimally
invasive procedures (laparoscopy/interventional radiology)[8] and remote surgery using teleoperators. A
particular advantage of this type of work is that the surgeon can perform many more operations of a
similar type, and with less fatigue. It is well documented that a surgeon who performs more procedures of
a given kind will have statistically better outcomes for his patients. Haptic interfaces are also used
in Rehabilitation robotics.

In ophthalmology, "haptic" refers to a supporting spring, two of which hold an artificial lens within the lens
capsule (after surgical removal of cataracts).

A 'Virtual Haptic Back' (VHB) is being successfully integrated in the curriculum of students at
the Ohio University College of Osteopathic Medicine.[9] Research indicates that VHB is a significant
teaching aid in palpatory diagnosis (detection of medical problems via touch). The VHB simulates the
contour and compliance (reciprocal of stiffness) properties of human backs, which are palpated with two
haptic interfaces (SensAble Technologies, PHANToM 3.0).

[edit]Robotics

The Shadow Dextrous Robot Hand uses the sense of touch, pressure, and position to reproduce the
human grip in all its strength, delicacy, and complexity. [10] The SDRH was first developed by Richard
Greenhill and his team of engineers in Islington, London, as part of The Shadow Project, (now known as
the Shadow Robot Company) an ongoing research and development program whose goal is to complete
the first convincing humanoid. An early prototype can be seen in NASA's collection of humanoid robots,
or robonauts.[11] The Dextrous Hand has haptic sensors embedded in every joint and finger pad, which
relay information to a central computer for processing and analysis. Carnegie Mellon University in
Pennsylvania and Bielefeld University in Germany in particular have found The Dextrous Hand is an
invaluable tool in progressing our understanding of haptic awareness and are currently involved (2006) in
research with wide ranging implications. The first PHANTOM, which allows one in the human world to
interact with objects in virtual reality through touch, was developed by Thomas Massie, while a student of
Ken Salisbury at M.I.T.[12]

[edit]Arts and design

Touching is not limited to a feeling, but it allows interactivity in real-time with virtual objects. Thus, haptics
are commonly used in virtual arts, such as sound synthesis or graphic design/animation. The haptic
device allows the artist to have direct contact with a virtual instrument that produces real-time sound or
images. For instance, the simulation of a violin string produces real-time vibrations of this string under the
pressure and expressiveness of the bow (haptic device) held by the artist. This can be done with physical
modelling synthesis.

Designers and modellers may use high-degree of freedom input devices that give touch feedback relating
to the "surface" they are sculpting or creating, allowing faster and more natural workflow than with
traditional methods.[13]

[edit]Actuators

Haptics is enabled by actuators that apply the forces to the skin for touch feedback. The actuator provides
mechanical motion in response to an electrical stimulus. Most early designs of haptic feedback use
electromagnetic technologies such as vibratory motors with an offset mass, such as the pager motor, that
is in most cell phones or voice coils where a central mass or output is moved by a magnetic field. The
electromagnetic motors typically operate at resonance and provide strong feedback, but have limited
range of sensations. Next-generation actuator technologies are beginning to emerge, offering a wider
range of effects thanks to more rapid response times. Next generation haptic actuator technologies
include Electroactive Polymers, Piezoelectric, and Electrostatic surface actuation.

[edit]Future applications
Future applications of haptic technology cover a wide spectrum of human interaction with technology.
Some current research focuses on the mastery of tactile interaction with holograms and distant objects,
which, if successful may result in applications and advancements in gaming, movies, manufacturing,
medical, and other industries. The medical industry will also gain from virtual and telepresence surgeries,
providing new options for medical care. Some speculate the clothing retail industry could gain from haptic
technology in ways such as being able to "feel" the texture of clothes for sale on the internet. [14] Future
advancements in haptic technology may even create new industries that were not feasible or realistic
before the advancements happening right now.

[edit]Holographic interaction
Researchers at the University of Tokyo are currently working on adding haptic feedback
to holographic projections. The feedback allows the user to interact with a hologram and receive tactile
response as if the holographic object were real. The research uses ultrasound waves to create a
phenomenon called acoustic radiation pressure, which provides tactile feedback as users interact with the
holographic object.[7] The haptic technology does not affect the hologram, or the interaction with it, only
the tactile response that the user perceives. The researchers posted a video displaying what they call the
"Airborne Ultrasound Tactile Display."[7] The technology is not yet ready for mass production or
mainstream application in industries, but it is quickly progressing, and "industrial companies" are already
showing a positive response to the technology.[15] It is important to note that this example of possible
future application is the first in which the user does not have to be outfitted with a
special glove or use a special control, they can "just walk up and use [it] " which paints a
promising picture for future applications.[15]
[edit]Future medical applications
One currently developing medical innovation is a central workstation surgeons would use to perform
operations remotely—local nursing staff would set up the machine and prepare the patient. Rather than
travel to an operating room, the surgeon becomes a telepresence. This allows expert surgeons to operate
from across the country, increasing availability of expert medical care. Haptic technology will provide
tactile and resistance feedback to the surgeon as he operates the robotic device. The goal is that, as the
surgeon, for instance, makes an incision, he feels ligaments as he would if working directly on the patient.
[16]

Surgical training is also on the brink of benefiting from haptic technology. Researchers at Stanford are
currently developing technology to simulate surgery for training purposes. Simulated operations would let
surgeons and surgical students practice and train more. Haptic technology will aid in the simulation by
creating a realistic environment of touch. Much like the telepresence surgery, surgeons will feel simulated
ligaments, or the pressure of a virtual incision as if it were real. The researchers led by J. Kenneth
Salisbury Jr., a research professor of both computer science and surgery, are also hoping to eventually
be able to create realistic internal organs for the simulated surgeries, but, as Salisbury has said, that is
not an easy feat.[14] The idea behind the research is that "just as commercial pilots train in flight simulators
before they're unleashed on real passengers, surgeons will be able to practice their first incisions without
actually cutting anyone."[14]