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Date: Tue, 26 Nov 1996 00:01:48 GMT
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<html> <head><title>Haptics</title></head><body><h1>Haptics</h1><p><!WA0><img alt="-----" src="http://www.ai.mit.edu/icons/lines/line-bluemarble.gif"><p>The haptics group at the <!WA1><a href="http://www.ai.mit.edu/">MITArtificial Intelligence Lab</a> conducts research in a wide variety oftopics related to touch perception and feedback including the developmentof devices to effect haptic stimulation and software to render the sensationsof touch. The group is headedby <!WA2><a href="http://www.ai.mit.edu/people/jks/jks.html">Dr. KennethSalisbury</a>.Another group headed up by Ken is the<!WA3><a href="http://www.ai.mit.edu/projects/handarm-haptics/manipulation.html">Visionand Touch Guided Manipulation</a> group. <p>The people in the Haptics group are: <p><ul> <li> Brian Anthony <li> Donald Green <li> Craig Latimer <li> Akhil Madhani <li> Thomas Massie <li> Derek Schulte <li> Nick Swarup (graduated) <li> Chris Tarr <li> Criag Zilles (graduated)</ul><hr>One of our first developments was the Phantom Haptic Interface (distributed by<!WA4><a href="http://www.sensable.com/">SensAble Devices, Inc.</a>): <p><h2>Touching is Believing</h2><br><!WA5><IMG ALIGN=BOT SRC="http://www.ai.mit.edu/projects/handarm-haptics/haptic-finger.gif">The PHANToM represents a new generation of computer input devices. More thanjust another passive, 3D mouse, the PHANTom allows users to actually feelvirtual objects. Unlike buzzing tactile stimulators, the PHANToM activelyexerts an external force on the user's finger tip - creating the illusion ofinteractions with solid virtual objects. Smoothe spheres, flat walls, sharpcorners, and even texture can be convincingly conveyed to the human hapticsytem using the device. This is not a bulky exoskelatal device - one simplyinserts his or her finger tip into the PHANToM and interacts with the virtualenvironment. <p><hr><h2>High Fidelity</h2>The PHANToM contains 3 motors which control the x, y, and z forces exerted onthe user's finger tip. Mounted on each motor is an optical encoder todetermine the x, y, and z position of the user's finger tip. The torque fromthe motors is transmitted through a proprietary cable transmission to a stiff,light-weight linkage. At the end of this linkage is a passive, 3 degree offreedom gimbal attached to a thimble. The passive gimbal allows the thimble torotate so that a user's finger tip may assume any comfortable orientation. Theuser's finger tip can then be modelled as a point or frictionless spherewithin the virtual world. The device has low friction, low inertia, and nounbalanced weight so movements through free virtual space are unimpeded. <p><hr><h2>Versatility</h2>The PHANToM is best described as a universal force-reflecting interface. Infact, a stylus can be substituted for the thimble. A user can then manipulatethe stylus to control the tip of a virtual pencil or paint brush. Users canactually feel the tip of the stylus touch virtual surfaces. The PHANToM can beused as a high precision force-reflecting master for teleoperation or as a 3DOF input device for CAD. Artists can mold clay within the computer andsurgeons can practice procedures on virtual patients.<p><hr><address>special-effects@ai.mit.edu</address><!-- hhmts start --><!-- hhmts end --></body> </html>⌨️ 快捷键说明
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