Engineering Haptic Devices
- Open Access
- 2023
- Open Access
- Book
- Editors
- Thorsten A. Kern
- Christian Hatzfeld
- Alireza Abbasimoshaei
- Book Series
- Springer Series on Touch and Haptic Systems
- Publisher
- Springer International Publishing
About this book
This is an open access book.
In this third edition of Engineering Haptic Devices the software part was rewritten from scratch and now includes even more details on tactile and texture interaction modalities. The kinematics section was improved to extend beyond a pure knowledge explanation to a comprehensive guideline on how to actually do and implement haptic kinematic functions. The control section was reworked incorporating some hands-on experience on control implementation on haptic systems. The system, actuator and sensor design chapters were updated to allow easier access to the content.
This book is written for students and engineers faced with the development of a task-specific haptic system. Now 14 years after its first edition, it is still a reference for the basics of haptic interaction and existing haptic systems and methods as well as an excellent source of information for technical questions arising in the design process of systems and components.
Following a system engineering approach, it is divided into two parts with Part I containing background and reference information as a knowledge basis. Typical application areas of haptic systems and a thorough analysis of haptics as an interaction modality are introduced. The role of users in the design of haptic systems is discussed and relevant design and development stages are outlined. Part II presents all related challenges in the design of haptic systems including general system architecture and control structures, kinematics, actuator principles and all types of sensors you may encounter doing haptic device development. Beside these hardware and mechanical topics, further chapters examine state-of-the-art interfaces to operate the devices, and hardware and software development to push haptic systems to their limits.
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Table of Contents
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Basics
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Frontmatter
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Chapter 1. Motivation and Application of Haptic Systems
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Download PDF-versionAbstractThis chapter serves as an introduction and motivation for the field of haptic research. It provides an overview of the technical domains covered, but also introduces the philosophical and social aspects of human haptic sense. Various definitions of haptics as a perceptual and interaction modality are discussed to serve as a common ground for the rest of the book. Typical application areas such as telepresence, training, interaction with virtual environments and communication are introduced and typical haptic systems from these areas are discussed.This chapter delves into the fascinating world of haptics, the sense of touch and movement. It begins by defining haptics and exploring its historical and philosophical significance. The author discusses the complexities of haptic research, including the classification of interactions and the role of perception. The chapter also highlights the evolution of haptic research disciplines and introduces four general classes of applications for haptic systems. Additionally, it touches on the artistic and aesthetic aspects of haptics, providing a well-rounded perspective on this multifaceted field. The chapter is essential reading for anyone interested in understanding the breadth and depth of haptic systems and their applications.AI Generated
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Chapter 2. Haptics as an Interaction Modality
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Download PDF-versionAbstractThis chapter focuses on the biological and behavioural basics of the haptic modality. On the one side, several concepts for describing interaction are presented in Sect. 2.2, on the other side, the physiological and psychophysical basis of haptic perception is discussed in Sect. 2.1. The goal of this chapter is to provide a common basis to describe interactions and to convey a basic understanding of perception and the description by psychophysical parameters. Both aspects are relevant for the formal description of the purpose of a haptic system and the derivation of requirements, further explained in Chap. 5. Several conclusions arising from the description of perception and interaction are given in Sect. 2.4.The chapter delves into the intricacies of haptic perception, a crucial aspect of haptics as an interaction modality. It begins with a summary of relevant topics from scientific disciplines dealing with haptic perception, essential for engineers designing haptic systems. The text then delves into the physiological properties of tactile and kinaesthetic receptors, providing a detailed classification based on their size and adaptation behavior. The spatial distribution and functions of these receptors are also discussed, with a focus on their relevance for detecting object properties and controlling movements. The chapter also explores the psychophysical description of perception, including the psychometric function and various psychometric procedures used to determine thresholds and other parameters. Additionally, it highlights the factors influencing haptic perception, such as temperature and contact area, and discusses the perception of forces and kinematic measures. Throughout, the text emphasizes the practical applications of this knowledge for designing haptic systems and understanding human-machine interaction.AI Generated
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Chapter 3. The User’s Role in Haptic System Design
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Download PDF-versionAbstractConsequently, a good mechanical design has to consider the user in his or her mechanical properties. The first part of this chapter deals with the discussion of the user as a mechanical load on the haptic device. The corresponding model is split into two independent elements depending on the frequency range of the oscillation. Methods and measurement setups for the derivation of mechanical impedance of the user are reviewed and a thorough analysis of impedance for different grip configurations is presented. In the second part of the chapter, the user is considered as the ultimate measure of quality for a haptic system. The relation of psychophysical parameters like the absolute threshold or the JND to engineering quality measures like resolution, errors and reproducibility is described and application depending quality measures like haptic transparency are introduced.The chapter delves into the crucial role of the user in haptic system design, emphasizing the user as a mechanical load. It explores the frequency ranges of human movements and models the user's mechanical interaction with haptic systems. The authors present a detailed analysis of user impedance, including various grasps and touches, and provide practical models for improving haptic system design. The chapter also discusses the significance of user variability and the quality of haptic interaction, making it a comprehensive resource for specialists in the field.AI Generated
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Chapter 4. Development of Haptic Systems
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Download PDF-versionAbstractThis chapter deals with the general design processes for the development of task-specific haptic systems. Based on known mechatronic development processes like the V-model, a specialized variant for haptic systems is presented, that incorporates a strong focus on the intended interaction and the resulting impacts on the development process. Based on this model, a recommended order of technical decisions in the design process is derived. General design goals of haptic systems are introduced in this chapter as well. These include stability, haptic quality and usability that have to be incorporated in several stages of the design process. A short introduction into different forms of technical descriptions for electromechanical systems, control structures and kinematics is also included in this chapter to provide a common basis for the second part of the book.The chapter introduces the development of haptic systems by applying mechatronic design principles, integrating expertise from mechanical engineering, robotics, and control automation. It presents a detailed V-model adapted for haptic system design, breaking down the process into five stages: system requirements, system design, modeling and design of components, realization and verification, and validation. Each stage is elaborated with specific tasks and methodologies, ensuring a comprehensive approach to haptic system development. The chapter also highlights the importance of considering psychophysics and neurobiology in haptic system design, emphasizing the need for a multidisciplinary approach.AI Generated
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Designing Haptic Systems
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Frontmatter
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Chapter 5. Identification of Requirements
- Open Access
Download PDF-versionAbstractIn this chapter, the process of requirement definition is described, starting with the definition of the intended application together with the customer. Especially the derivation of technical parameters from the customers expectation and useful tools for this step are discussed. Further, the analysis of the intended interaction and the effects on the requirement identification are discussed. To alleviate the identification of requirements, main requirement groups are derived from the intended type of interaction and presented in five technical solution clusters. A review of relevant standards and guidelines on safety serves as another source of requirements of a haptic systems.The chapter begins by emphasizing the necessity of clarifying customer motivations at the start of a technical design process. It highlights the common issue of customers expressing wishes as solutions rather than requirements, leading to project failures. The author introduces a structured approach to interaction analysis, including task analysis, movement capabilities, and mechanical impedance, to derive meaningful technical requirements. The chapter also explores the use of experiments and tools to help customers describe haptic impressions, such as comparing objects and using 3D-printed samples. Additionally, it discusses the importance of safety considerations in the design process, including risk analysis and the application of relevant safety standards. The chapter concludes with a focus on the design of mechanical controls, providing guidelines for optimizing the haptic behavior of rotary switches and push buttons. Throughout, the chapter offers practical examples and methodologies to enhance the design and development of haptic systems, making it a valuable resource for professionals in the field.AI Generated
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Chapter 6. General System Structures
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Download PDF-versionAbstractHaptic systems exhibit several basic structures defined by the mechanical in- and outputs, commonly known as impedance or admittance system structures. This chapter describes these structures in open-loop and closed-loop variants and presents commercial realizations as well as common applications of these structures. Based on the different properties of the structures and the intended application, hints for the selection of a suitable structure are given.The chapter 'General System Structures' delves into the intricate design considerations for haptic devices, categorizing them into four primary structures: open-loop and closed-loop admittance and impedance controlled systems. It explains the fundamental concepts of impedance and admittance, highlighting the differences between open-loop and closed-loop systems. The chapter discusses the advantages and disadvantages of each system, such as the precision and noise resistance of closed-loop systems versus the simplicity of open-loop designs. It also provides practical examples and applications of these systems, including tactile displays and high-stiffness haptic interfaces. The detailed analysis and comparison of these systems make this chapter an invaluable resource for engineers and researchers in the field of haptic technology.AI Generated
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Chapter 7. Control of Haptic Systems
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Download PDF-versionAbstractControl engineering is an important part for making the system more precise and provide the possibility for the system to reach the desired parameters. This chapter reviews some aspects of the control in haptic systems, including advanced forms of technical descriptions, system stability criteria and measures as well as the design of different control laws in a haptic system. A focus is set on the control of bilateral teleoperation systems including the derivation of control designs that guarantee stability as well as haptic transparency and the handling of time delay in the control loop. The chapter also includes an example for the consideration of thermal properties and non-ideal mechanics in the control of a linear stage made from an EC motor and a ball screw as well as an perception-orientated approach to haptic transparency intended to lower the technical requirements on the control and component design.The chapter on 'Control of Haptic Systems' delves into the essentials of controlling technical systems to achieve safe and reliable behavior, with a focus on haptic systems. It outlines the importance of stability, dynamic behavior, and performance, using mathematical models and control techniques. The text covers various methods for system description, stability analysis, and control law design, highlighting the unique challenges and solutions for haptic systems. It also discusses the control of multi-input systems and the design of stable control laws for haptic systems, making it a valuable resource for professionals in the field.AI Generated
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Chapter 8. Kinematic Design
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Download PDF-versionAbstractOne aspect in haptic devices is the design of the kinematics. The kinematics of a mechanism is the key to implement and accomplish the design goals, like transmitting dynamic feedback in the form of forces or torques, or allowing a sufficient workspace for the user to interact with environment. This chapter introduces the steps of the kinematic design. The chapter consists of five main sections. The first section gives an overview on some basic definitions and the main types of mechanisms. In the second section, the first step in the design, defining the structure of the mechanism, is introduced. This is accompanied with an example. After choosing the most applicable structure for the desired application, the second step takes place, where the kinematic equations are solved. These equations are used to describe the relation between the operating point of the mechanism and the base at any point in time. Different approaches are used to solve those equations depending on the type of the mechanism used. The third and final step in the design process is introduced in the fourth section. This step contains the optimization process of the mechanism in order to achieve a desired operation of the mechanism. Last but not least, the importance of modeling and simulation is discussed in the last section.The chapter on kinematic design begins by outlining the major goals and definitions in haptic interfaces, such as the role of kinematics and the classification of mechanisms into serial, parallel, and hybrid types. It then delves into the design process, starting with defining the structure of the mechanism, solving kinematic equations, and finally dimensioning the mechanism to optimize performance. The chapter highlights the unique challenges and advantages of each mechanism type, emphasizing the importance of workspace optimization and avoiding singular positions. Additionally, it discusses the dynamics of haptic interfaces, including the use of simulation tools to model and optimize the behavior of these mechanisms. This comprehensive approach makes the chapter a valuable resource for professionals and specialists in the field of haptics and robotics.AI Generated
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Chapter 9. Actuator Design
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Download PDF-versionAbstractActuators are the most important elements of any haptic device. Their selection or design significantly influences the quality of the haptic impression. This chapter deals with commonly used actuators, organized according to their physical principle of operation. It focuses on the electrodynamic, electromagnetic, electrostatic and piezoelectric actuator principles. Each actuator type is discussed in terms of its main physical principles, with examples of sizing and one or more applications. Other, less frequently used actuator principles are mentioned in several examples. The preceding chapters focused on the basics of control engineering and kinematic design. They covered topics of structuring and fundamental character. This and the following chapters deal with the design of technical components as parts of haptic devices. Experience teaches us that actuators for haptic applications can rarely be found “off-the-shelf”. Their requirements always include some outstanding features in rotational frequency, power-density, working point, or geometry. These specialities make it necessary and helpful for users to be aware of the capabilities and possibilities for modifying existing actuators. Hence this chapter addresses both groups of readers: the users who want to choose a certain actuator and the mechanical engineer who intends to design a specific actuator for a certain device from scratch.The chapter on 'Actuator Design' by Thorsten A. Kern offers a detailed guide for selecting appropriate actuators for haptic applications. It begins by emphasizing the importance of understanding actuator principles and their dynamic ranges. The author then provides an overview of various actuator principles, including electrodynamic, piezoelectric, and magnetic principles, among others. Each principle is discussed in terms of its working mechanism, advantages, and typical applications. The chapter also includes practical guidelines for selecting actuators based on specific requirements, such as force, displacement, and control strategy. Additionally, the author highlights the importance of considering the dynamic properties of actuators and provides insights into the design and control of electrodynamic actuators. The chapter concludes with a discussion of the challenges and future directions in actuator design for haptic systems. Throughout the chapter, the author emphasizes the importance of a systematic approach to actuator selection and design, making it a valuable resource for professionals working in the field of haptics and robotics.AI Generated
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Chapter 10. Sensor Design
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Download PDF-versionAbstractMultiple sensors are applied in haptic devices designs. Even if they are not closed-loop controlled in a narrow sense of force or torque generation, they are used to detect movement ranges and limits or the detection of the presence of a user and its type of interaction with an object or human-machine-interface (HMI). Almost any type of technical sensor had been applied in the context of haptic devices. The emerging market of gesture based user interaction and integration of haptics due to ergonomic reasons extends the range of sensors potentially relevant for haptic devices. However, what exactly is a sensor? Which is the right one for your purpose and is there a systematic way to choose it? To support you answering these fundamental questions, classification of sensors is helpful. This chapter starts with a definition and classifications according to measurand and sensing principles. Constraints, you will have to focus on, are discussed and selection criteria are deduced. An introduction in technologies and design principles for mechanical sensors serves as an overview for your selection process. Common types of force/torque, positioning, velocity and acceleration sensors are presented. Furthermore, imaging and temperature sensors are addressed briefly in this section.The chapter begins by defining what a sensor is and why it is crucial for every technical system. It uses the example of grasping an object to illustrate how sensors translate information into electrical signals for processing. The text delves into the transformation of non-electric parameters into electric pulses, discussing the transfer function and the influence of environmental factors like temperature and vibration. It also covers static and dynamic transmission behavior, outlining key characteristics such as offset, hysteresis, and noise. The chapter highlights the importance of understanding the measurement chain in detail to accurately describe sensor performance. It provides a classification of sensors based on sensing principles and application fields, including mechanical, optical, and thermal domains. The text emphasizes the significance of considering the constraints and requirements of haptic systems when selecting sensors. It concludes with a focus on the design criteria for force sensors, offering practical insights into the selection and design process.AI Generated
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Chapter 11. Interface Design
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Download PDF-versionAbstractThis chapter deals with different interface technologies that can be used to connect task-specific haptic systems to an IT system. Based on an analysis of the relevant bandwidth for haptic interaction depending on the intended application and an introduction of several concepts to reduce the bandwidth for these application (local haptic models, event-based haptics, movement extrapolation etc.), several standard interfaces are evaluated for the use in haptic systems.This chapter delves into the critical aspects of designing IT interfaces for haptic feedback systems, with a particular focus on the speed of data transmission. It distinguishes between spatially distributed tactile displays and primarily kinaesthetic systems, highlighting the challenges and solutions for each. The chapter explores the use of bus systems, serial automation technology network protocols like CAN and TTCAN, and cloud-based communication for remote haptic interaction. It also discusses bandwidth reduction techniques, such as event-based haptics and movement extrapolation, to optimize the performance of haptic devices. Additionally, the chapter provides insights into ergonomic standards for haptic and tactile interactions, making it a comprehensive resource for professionals in the field.AI Generated
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Chapter 12. Haptic Software Design
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Download PDF-versionAbstractThis chapter reviews design concepts of haptic modeling and rendering software. The main focus lies in realistic kinesthetic and tactile haptic models for virtual and augmented reality based on the data collected from physical objects. We consider both data-driven algorithms providing a black-box action-response mapping and measurement-based approaches identifying parameters of physics-based models. To show the research landscape and highlight ongoing research challenges, we introduce a series of state-of-the-art methods including data-driven models with deterministic and stochastic responses, physics-based simulation using optimization-based FEM solver, and hybrid approaches of combining the concepts of both data-driven and physics-based methods. These examples also cover a wide range of haptic properties, i.e., modeling and rendering of elasticity and plasticity, tool deformation, and haptic textures.The chapter begins by introducing the field of haptic software design, which involves the creation of software that synthesizes and displays haptic content. It discusses the classification of haptic software into algorithms that encode abstract information and those that simulate haptic interaction. The focus then shifts to haptic rendering, which is crucial for enabling users to explore and perceive haptic properties. The chapter delves into the different approaches to haptic modeling, including deterministic and stochastic data-driven methods, and measurement-based modeling. It also explores the use of physics-based simulation in haptic rendering and the challenges associated with achieving high realism. The chapter highlights the importance of haptic feedback in various applications, such as virtual and mixed reality, and discusses the design of haptic user interfaces. Additionally, it provides a detailed overview of the structure and contents of the chapter, including examples and case studies that illustrate the concepts discussed. The chapter concludes by emphasizing the importance of haptic software design in enhancing user experience and interaction in various domains.AI Generated
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Chapter 13. Evaluation of Haptic Systems
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Download PDF-versionAbstractIn this chapter, a number of measurement methods and tests are presented that can be used either for verification or validation or—sometimes—both. We therefore refrain from an ordering based on this steps, but will present the methods based on the focus of the evaluation method. In that sense one can identify three main foci of evaluation methods: system-centered methods that will test system properties (and are mostly used for verification, Sect. 13.1), task-centered methods that will test the task-performance of a user working with the haptic system (such tests are mainly used for validation but they can also verify system properties depending on the test design, Sect. 13.2) and user-centered methods that will measure the impact of the haptic system on the user. The latter are almost exclusively used for system validation and further described in Sect. 13.3.This chapter delves into the evaluation of haptic systems, focusing on the verification and validation methods used to ensure these systems meet specified requirements. It highlights the importance of task-centered and user-centered evaluation methods, providing practical tips for measuring force-dependent values, dynamic behavior, and mechanical impedance. The chapter also discusses the significance of standardized testing and the unique challenges posed by the design of task-specific haptic interfaces. Additionally, it explores the role of psychophysical parameters and the evaluation of haptic displays, making it a valuable resource for professionals seeking to enhance the performance and usability of haptic systems.AI Generated
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Chapter 14. Examples of Haptic System Development
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Download PDF-versionAbstractIn this section, several examples of task-specific haptic systems are given. They shall give an insight in the process of defining haptic interactions for a given purpose and illustrate the development and evaluation process outlined in this book so far. Examples were chosen by the editors to cover different basic system structures.The chapter delves into the development and application of haptic systems, particularly focusing on touch interfaces in the automotive industry and haptic feedback systems for medical procedures. It begins with a detailed look at the evolution of touch input devices in vehicles, highlighting the shift from traditional buttons to touchpads and touchscreens. The chapter then explores the technical framework and challenges of integrating haptic feedback into these devices, emphasizing the importance of vibrotactile technologies. Additionally, it presents a comprehensive case study on the Mercedes-Benz S-Class and EQS touchpads, showcasing advanced haptic feedback mechanisms. The chapter also discusses the HapCath system, a revolutionary haptic catheter that provides force feedback during vascular interventions, enhancing the precision and safety of medical procedures. Throughout, the chapter offers a deep dive into the technological advancements and practical applications of haptic systems, making it a valuable resource for professionals in the field.AI Generated
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Chapter 15. Conclusion
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Download PDF-versionAbstractLike any other design process, the design of haptic systems is largely influenced by the optimization of a technical system, which is based on the consideration of a large number of decisions about individual components that usually influence each other.This chapter delves into the intricate design process of haptic systems, highlighting the need for a thorough understanding of both technical and human factors. It begins by stressing the importance of defining clear requirements and using appropriate tools to communicate with customers effectively. The chapter then explores the technical design process, emphasizing the significance of choosing the right structure and kinematics for haptic systems. It also discusses the selection of suitable actuators and the integration of force sensors, which are becoming increasingly important in haptic devices. Additionally, the chapter provides insights into the integration of haptic devices with standard interface technology and the use of sophisticated software solutions to restore the impression of touch. Throughout the chapter, the authors emphasize the need for engineers to stay updated with the latest developments in research and industry to avoid common mistakes and leverage recent advancements in the field of haptic devices.AI Generated
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- Title
- Engineering Haptic Devices
- Editors
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Thorsten A. Kern
Christian Hatzfeld
Alireza Abbasimoshaei
- Copyright Year
- 2023
- Publisher
- Springer International Publishing
- Electronic ISBN
- 978-3-031-04536-3
- Print ISBN
- 978-3-031-04535-6
- DOI
- https://doi.org/10.1007/978-3-031-04536-3
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