This thesis addresses the Virtual Reality (VR) as an efficient communication process, furtheremphasizes on the importance of Haptic Feedback in Virtual Reality applications. HapticFeedback plays a pivotal role in Virtual Reality simulations by enhancing users’ interactivityand immersion. Considering the human perceptions and experiences in line with technology isextremely significant for an effective Virtual Reality. The aim of this research is to study theperceptions and experiences of human participants about Virtual Reality applications,importance of Haptic Feedback, and to explore the advantages and limitations of suchapplications. The need to integrate Haptic Feedback in today’s Virtual Reality applications, andits advantages were emphasized. In order to acquire in-depth understanding of user’sperceptions and experiences about Virtual Reality as a communication process, a qualitativecase study was employed in this study with interpretive research approach and purposefulsampling. After interviewing the selective participants, the outcomes of the study would be toconsider Virtual Reality as an effective communication medium and to propose improvementplans for IKEA VR Experience with Haptic Feedback. Based on the outcomes of this study,organizations can strive towards providing richer Virtual Reality experience to their customersin the years to come.

Indiana University-Purdue University Indianapolis (IUPUI) / In immersive eLearning environments, it has been demonstrated that incorporating haptic feedback improves the software's pedagogical effectiveness. Due to this and recent advancements in virtual reality (VR) and mixed reality (MR) environments, more immersive, authentic, and viable pedagogical tools have been created. However, the advanced manufacturing industry has not fully embraced mixed reality training tools. There is currently a need for effective haptic feedback techniques in advanced manufacturing environments. The MR-AVML, a proposed CNC milling machine training tool, is designed to include two forms of haptic feedback, thereby providing users with a natural and intuitive experience. This experience is achieved by tasking users with running a virtual machine seen through the Microsoft HoloLens and interacting with a physical representation of the machine controller. After conducting a pedagogical study on the environment, it was found that the MR-AVML was 6.06% more effective than a version of the environment with no haptic feedback, and only 1.35% less effective than hands-on training led by an instructor. This shows that the inclusion of haptic feedback in an advanced manufacturing training environment can improve pedagogical effectiveness.

A prototype of a haptic and virtual reality simulator has been developed for simulation of the bone milling and material removal process occurring in several operations, e.g. temporal bone surgery or dental milling. The milling phase of an operation is difficult, safety critical and very time consuming. Reduction of operation time by only a few percent would in the long run save society large expenses. In order to reduce operation time and to provide surgeons with an invaluable practicing environment, this licentiate thesis discusses the introduction of a simulator system to be used in both surgeon curriculum and in close connection to the actual operations. The virtual reality and haptic feedback topics still constitute a young and unexplored area. It has only been active for about 10-15 years for medical applications. High risk training on real patients and the change from open surgery to endoscopic procedures have enforced the introduction of haptic and virtual reality simulators for training of surgeons. Increased computer power and the similarity to the successful aviation simulators also motivate to start using simulators for training of surgical skills. The research focus has been twofold: 1) To develop a well working VR-system for realistic graphical representation of the skull itself including the changes resulting from milling, and 2) to find an efficient algorithm for haptic feedback to mimic the milling procedure using the volumetric Computer Tomography (CT) data of the skull. The developed haptic algorithm has been verified and tested in the simulator. The visualization of the milling process is rendered at a graphical frame rate of 30 Hz and the haptic rendering loop is updated at 1000 Hz. Test results show that the real-time demands are fulfilled. The visual and haptic implementations have been the two major steps to reach the over all goal with this research project. A survey study is also included where the use of VR and haptic simulators in the surgical curriculum is investigated. The study starts with a historical perspective of the VR and haptic topics and is built up by answering different questions related to this topic and the implementation of simulators at the medical centres. The questions are of general concern for those developing surgical VR and haptic simulators. Suggested future work includes modelling, development and validation of the haptic forces occurring in the milling process and, based on this, implementation in the simulator system. Also, further development of the simulator should be done in close cooperation with surgeons in order to get appropriate feedback for further improvements of the functionality and performance of the simulator. / QC 20101112

This thesis discusses commensality as a significant social activity, that helps to maintain and strengthen social bonds. It also examines the sense of touch as a communication channel, and provides an insight to how it can be used to communicate affect. Touch as contextualized medium and its relevance to interaction design is investigated. Based on studies made in psychology, physiology, sociology and communication it aims to find an answer to the question: ”How may we create togetherness -with the help of an interactive device- between loved ones separated by distance during dining, through remote communication?” In order to meet the objectives of the above question this research followed the Research Through Design methodology, with series of workshops and prototyping sessions.

<p dir="ltr">Task performance is considered an important emphasis in the world of Human-Computer Interaction (HCI). With the emergence of advanced technologies such as Virtual Reality (VR), it is important to understand how individuals are able to utilize this tool for productive task performance. Researchers are continuously exploring how to enhance human performance in a digital space (Wang & Jung, 2011). Prior research has demonstrated the role of integrating haptic feedback into a visual interface, with potential benefits in task performance, as well as increased experiences of presence and awareness while completing HCI tasks. Several research studies have been carried out to investigate ways to optimize human performance and richly uncover factors that affect human performance negatively and positively (Asan et al., 2015). Typically, in a VR setting, three primary senses are engaged: visual, auditory, and tactile (haptic). However, there is a gap in the literature regarding how the availability and intensity of haptic feedback through VR controllers affect users during task performance. This research study seeks to understand the cognitive performance of users in VR when exposed to varying levels of haptic feedback via the VR controllers. Results from this research reveal that participants perceived their performance to be higher and frustration to be lower when they were exposed to moderate and consistent availability and intensity of haptic feedback. To enhance VR’s immersion for users, it is essential to comprehend how to engage the human senses to optimize cognitive performance. Overall, the impact of this research study is to add to an existing body of literature in the domain of haptic feedback for extended reality-based experiences. </p>

La chirurgie arthroscopique présente actuellement un essor très important pour le bénéfice du plus grand nombre des patients. Cependant, cette technique possède un certain nombre d'inconvénients et il est donc nécessaire pour le médecin de s'entrainer et répéter ses gestes afin de pouvoir exécuter ce type d'opération d'une façon efficace et certaine. En effet, les méthodes traditionnelles d'enseignement de la chirurgie sont basées sur l'autopsie des cadavres et l'entrainement sur des animaux. Avec l'évolution de notre société, ces deux pratiques deviennent de plus en plus critiquées et font l'objet de réglementations très restrictives. Afin d'atteindre un niveau plus élevé, de nouveaux moyens d'apprentissage sont nécessaires pour les chirurgiens. Récemment, la réalité virtuelle commence d'être de plus en plus utilisée dans la médecine et surtout la chirurgie. Les simulateurs chirurgicaux sont devenus une des matières les plus récentes dans la recherche de la réalité virtuelle. Ils sont également devenus une méthode de formation et un outil d'entrainement valable pour les chirurgiens aussi bien que les étudiants en médecine. Dans ce travail, un simulateur de réalité virtuelle pour l'enseignement de la chirurgie arthroscopique, surtout la chirurgie du poignet, a été préesenté. Deux questions principales sont abordées : la reconstruction et l'interaction 3-D. Une séquence d'images CT a été traitée afin de générer un modèle 3-D du poignet. Les deux principales composantes de l'interface du système sont illustrées : l'interaction 3-D pour guider les instruments chirurgicaux et l'interface de l'utilisateur pour le retour d'effort. Dans ce contexte, les algorithmes qui modélisent les objets en utilisant les approches de "Convex Hull" et qui simulent la détection de collision entre les objets virtuels en temps réel, sont présentés. En outre, un dispositif de retour d'effort est utilisé comme une interface haptique avec le système. Cela conduit au développement d'un système à faible coût, avec les mêmes avantages que les appareils professionnels. A cet égard, l'arthroscopie du poignet peut être simulée et les étudiants en médecine peuvent facilement utiliser le système et peuvent apprendre les compétences de base requises en sécurité, flexibilité et moindre coût

O exame de palpação é um procedimento no qual um profissional da saúde pressiona uma região específica do corpo de um paciente com os dedos a fim de detectar a presença ou ausência de características e anormalidades sob a pele. Um simulador que forneça subsídios para o treinamento deste procedimento pode contribuir para o aprendizado da técnica e o aprimoramento de sua execução em pacientes, além de, dentre outras vantagens, eliminar a necessidade de exposição de pacientes aos riscos das situações reais, minimizar o uso de objetos físicos e tornar possível a simulação de diferentes casos e ações. O objetivo principal deste trabalho consiste em desenvolver um simulador de palpação mamária com retorno háptico realista. No contexto do exame de palpação, existe uma lacuna no que concerne a definição de técnicas e parâmetros de retorno de força que ofereçam uma experiência mais realista de interação para o usuário. Após uma revisão sistemática da literatura foi feito o mapeamento dos principais parâmetros para representar diferentes nódulos durante o treinamento virtual visando ao diagnóstico de anomalias mamárias. Tais parâmetros foram equacionados com a finalidade de obter uma representação realista em um dispositivo háptico. Além disso, interfaces foram implementadas para permitir a geração de casos com a variação desses parâmetros referentes aos nódulos (tamanho, consistência, localização e contorno). Os resultados obtidos a partir de uma avaliação com uma profissional da medicina mostraram que o retorno de força aplicado a cada uma das características foi realista para todos os parâmetros, com limitação na representação de nódulos espiculados, que deve ser melhorada. Além de contribuir com a área de Computação no sentido de ter definido técnicas e parâmetros de retorno de força importantes para a simulação de exames de palpação, o trabalho disponibiliza uma ferramenta que pode contribuir para a aquisição efetiva da habilidade necessária para a execução do procedimento em questão / Palpation exam is a procedure in which a health care professional presses a specific region of a patient\'s body with the fingers in order to detect the presence of features and abnormalities under the skin. A simulator that aids the training this procedure may contribute to the learning of the technique and the improvement of its implementation in real patients. The main objective of the Master\'s degree work proposed in this paper is to develop a breast palpation simulator with haptic feedback. The results of a Systematic Review conducted in order to assess the state-of-art of the simulation of the palpation procedure showed that despite being a new area, there are already many innovative works that received positive reviews. However, in the context of palpation examination, a gap exists regarding the definition of techniques and force feedback parameters to provide a more realistic experience to the user. After a Systematic Review from the literature the mapping of the main parameters was done to represent different nodules during the virtual training for the diagnosis of breast abnormalities. These parameters were transformed into equations with the goal of obtaining a realistic representation on a haptic device. Besides, user interfaces were implemented to allow the creation of cases with the variation of the parameters relative to the nodules (size, consistency, localization and contour). The results obtained from an assessment done with a medical professional showed that the force feedback applied to each one of the characteristics was realistic to all the parameters, with limitations on the representation of spiculated nodules, which must be improved. Aside from the contribution to the Computing area in the sense that force feedback techniques and parameters important to the simulation of palpation exams were defined, this work offers a tool that can contribute to the effective acquisition of the necessary skills to the execution of the procedure in question

O exame de palpação é um procedimento no qual um profissional da saúde pressiona uma região específica do corpo de um paciente com os dedos a fim de detectar a presença ou ausência de características e anormalidades sob a pele. Um simulador que forneça subsídios para o treinamento deste procedimento pode contribuir para o aprendizado da técnica e o aprimoramento de sua execução em pacientes, além de, dentre outras vantagens, eliminar a necessidade de exposição de pacientes aos riscos das situações reais, minimizar o uso de objetos físicos e tornar possível a simulação de diferentes casos e ações. O objetivo principal deste trabalho consiste em desenvolver um simulador de palpação mamária com retorno háptico realista. No contexto do exame de palpação, existe uma lacuna no que concerne a definição de técnicas e parâmetros de retorno de força que ofereçam uma experiência mais realista de interação para o usuário. Após uma revisão sistemática da literatura foi feito o mapeamento dos principais parâmetros para representar diferentes nódulos durante o treinamento virtual visando ao diagnóstico de anomalias mamárias. Tais parâmetros foram equacionados com a finalidade de obter uma representação realista em um dispositivo háptico. Além disso, interfaces foram implementadas para permitir a geração de casos com a variação desses parâmetros referentes aos nódulos (tamanho, consistência, localização e contorno). Os resultados obtidos a partir de uma avaliação com uma profissional da medicina mostraram que o retorno de força aplicado a cada uma das características foi realista para todos os parâmetros, com limitação na representação de nódulos espiculados, que deve ser melhorada. Além de contribuir com a área de Computação no sentido de ter definido técnicas e parâmetros de retorno de força importantes para a simulação de exames de palpação, o trabalho disponibiliza uma ferramenta que pode contribuir para a aquisição efetiva da habilidade necessária para a execução do procedimento em questão / Palpation exam is a procedure in which a health care professional presses a specific region of a patient\'s body with the fingers in order to detect the presence of features and abnormalities under the skin. A simulator that aids the training this procedure may contribute to the learning of the technique and the improvement of its implementation in real patients. The main objective of the Master\'s degree work proposed in this paper is to develop a breast palpation simulator with haptic feedback. The results of a Systematic Review conducted in order to assess the state-of-art of the simulation of the palpation procedure showed that despite being a new area, there are already many innovative works that received positive reviews. However, in the context of palpation examination, a gap exists regarding the definition of techniques and force feedback parameters to provide a more realistic experience to the user. After a Systematic Review from the literature the mapping of the main parameters was done to represent different nodules during the virtual training for the diagnosis of breast abnormalities. These parameters were transformed into equations with the goal of obtaining a realistic representation on a haptic device. Besides, user interfaces were implemented to allow the creation of cases with the variation of the parameters relative to the nodules (size, consistency, localization and contour). The results obtained from an assessment done with a medical professional showed that the force feedback applied to each one of the characteristics was realistic to all the parameters, with limitations on the representation of spiculated nodules, which must be improved. Aside from the contribution to the Computing area in the sense that force feedback techniques and parameters important to the simulation of palpation exams were defined, this work offers a tool that can contribute to the effective acquisition of the necessary skills to the execution of the procedure in question

This master thesis covers conceptual design of haptic feedback system and safety and reliability assessment. System is developed for aircraft categories UL2, EASA CS-LSA, EASA CS-VLA and EASA-CS-23. Conceptual design is divided into three parts. First is aimed on haptic system test with simulator. Second is conceptual design of haptic system for in-flight test. Third part contains safety and reliability assessment and summarizes problems of haptic system installation in real aircraft.

This master thesis is focused on design of control stick grip and rudder pedals extension. These components are equipped with active elements, which provide pilot with haptic feedback. The purpose of the introduced design is to allow prototype to be built into the aeroplane so that the proposed concept of haptic feedback can be tested onboard. It shall verify used technical solutions as well to allow for their application on following development stages that aim at certification of the proposed haptic feedback system to be used in general aviation aeroplanes. The designed components are the successors of prototypes used for experiments carried on flight simulator. The design process follows the requirements of legislation and outcomes of the previous experiments. This thesis follows the design process from setting of the design requirements to mechanical test of 3D printed prototypes.