On October 19-22, 1997 the Second PHANToM Users Group Workshop was held at the MIT Endicott House in Dedham, Massachusetts. Designed as a forum for sharing results and insights, the workshop was attended by more than 60 participants from 7 countries. These proceedings report on workshop presentations in diverse areas including rigid and compliant rendering, tool kits, development environments, techniques for scientific data visualization, multi-modal issues and a programming tutorial.

Multi-function interfaces have become increasingly pervasive and are frequently used in contexts which pose multiple demands on a single sensory modality. Assuming some degree of modularity in attentional processing and that using a different sensory channel for communication can reduce interference with critical visual tasks, one possibility is to divert some information through the touch sense. The goal of this Thesis is to advance our knowledge of relevant human capabilities and embed this knowledge into haptic communication design tools and procedures, in the interest of creating haptically supported interfaces that decrease rather than add to their users’ sensory and cognitive load. In short, we wanted to create tools and methods that would allow the creation of haptic signals (accomplished via display of either forces or vibrations) extending beyond the one bit of communication offered by current pagers and cellular phone buzzers. In our quest to create information-rich haptic signals we need to learn how to create signals that are differentiable. We also need to study ways to assign meanings to these signals and make sure that they can be perceived clearly when presented one after another even in environments where their recipient might be involved with other tasks. These needs frame the specific research goals of this thesis. Most of the results described here were obtained through the study of tactile (in the skin) rather than proprioceptive (force feedback) stimuli. We begin by presenting several methods to create, validate and contrast tactile stimulus dissimilarity data and investigate the design of a waveform intended to be a tactile perceptual intermediate between a square waveform and a triangle waveform. Next, we explore methods to create and test tactile signal-meaning associations and document a surprising ability of participants to exhibit high recall of quickly learned associations at two weeks in a first examination of longitudinal recall of tactile stimuli. We then present methods to measure tactile stimulus masking and identify crucial perceptual thresholds relating to stimulus temporal spacing in an exploration into the masking effects of common-onset vibrotactile stimuli. Finally, we present methods to test haptic and multimodal perception in simulated scenarios including a method to simulate and control cognitive workload; and provide evidence that the commonly-used device of multimodal signal reinforcement can adversely impact performance in an ongoing primary task. The research presented in this Thesis has implications for the design of signals to be used in displays that are emerging in embedded computing environments such as cars, games, cellular phones, and medical devices.

With the use of touch-screen enabled interfaces, came a new era for in-car interactions. Sadly, no technology comes without drawbacks, in this case the demand of visual attention, which is desperately needed to operate the vehicle in a safe manner. The main motivation for this project is finding a way to bring the sense of touch back to interfaces while retaining the flexibility that touch-screens have introduced. The collaborating partner for this project was Icon Incar, who also supported it in many ways. The research phase of this project has been carried out at the company HQ in Berlin. This included feedback sessions at the company, reading research papers on haptics and automotive interfaces, talking to experts in the field of haptics and the facilitation of a workshop. The research helped to confirm the initial problem statement and helped to form ideas in the ideation stage, of which there were many. Those ideas were a mixture of technologies and sensing abilities that went far beyond the initial problem statement in order keep a brother scope. There were many feedback session, with different people, which were necessary to weed out the bad ideas and keep the viable ones for testing. While building and testing the first prototypes, there was simultaneously a quest going on to find a solution for fully actuated and shape shifting displays, something that has not been done before. While coming up with dozens of possible technical solutions, the fact was overlooked that none of them would provide a good experience (except some far fetched futuristic granular systems). As it turns out, actuating the display itself would not cause any problems, but manipulating the actuation would, because it would not give the best experience. Manipulating actuated button would work and feel just fine, but sliders and knobs - whenever the finger has to move over a surface - would feel unnatural. After more analysis, I found that there is not one technology yet, that could stimulate all the different properties a human being can feel with the sense of touch. Therefor, there have to be many technologies working together to provide the best possible experience. More than a dozen haptic prototypes have been built and tested to help the users perform various tasks blindly. Those ranged from controlling the climate, scrolling throughout lists, identifying functions and getting feedback for selected options. Many of the ideas did not work out as expected and were discontinued after the haptic testing, which was a vital part of the process. The working ideas were then combined into a larger concept. To simplify the interface even more, a general list of features was thoroughly studied so that functions could be simplified, combined or discarded. Drivers and car dealers have been interviewed to understand what the most commonly used functions are. The analysis of existing interfaces has shown that there is currently only one function and type of information provided at any time. This means that the driver can not see directions while changing the music, for example. The concept layout will, therefore, provide information about all the basic functions (climate control, navigation, music and phone) where one function shows all information and others only the basics. To avoid visual clutter and ensure quick recognition, graphic elements have been distilled to their essential forms while still retaining a sense of visual pleasure. To identify, differentiate between and set climate control, the knob for heating would change its temperature, the ventilation knob blow air at the set speed and the air flow direction knob would tilt in the set direction. While the volume knob would react to the beat of the music. With the help of microfluidics, active buttons would pop out of the screen and can be identified by their shapes. When activating those shape shifting buttons, the driver would feel feedback, similar to the one of real buttons, provided by an actuator at the back of the display. The combination of all listed solutions would provide simpler interactions and help the drivers to keep their focus on the road. This would in turn make driving a better and safer experience.

Multi-function interfaces have become increasingly pervasive and are frequently used in contexts which pose multiple demands on a single sensory modality. Assuming some degree of modularity in attentional processing and that using a different sensory channel for communication can reduce interference with critical visual tasks, one possibility is to divert some information through the touch sense. The goal of this Thesis is to advance our knowledge of relevant human capabilities and embed this knowledge into haptic communication design tools and procedures, in the interest of creating haptically supported interfaces that decrease rather than add to their users’ sensory and cognitive load. In short, we wanted to create tools and methods that would allow the creation of haptic signals (accomplished via display of either forces or vibrations) extending beyond the one bit of communication offered by current pagers and cellular phone buzzers. In our quest to create information-rich haptic signals we need to learn how to create signals that are differentiable. We also need to study ways to assign meanings to these signals and make sure that they can be perceived clearly when presented one after another even in environments where their recipient might be involved with other tasks. These needs frame the specific research goals of this thesis. Most of the results described here were obtained through the study of tactile (in the skin) rather than proprioceptive (force feedback) stimuli. We begin by presenting several methods to create, validate and contrast tactile stimulus dissimilarity data and investigate the design of a waveform intended to be a tactile perceptual intermediate between a square waveform and a triangle waveform. Next, we explore methods to create and test tactile signal-meaning associations and document a surprising ability of participants to exhibit high recall of quickly learned associations at two weeks in a first examination of longitudinal recall of tactile stimuli. We then present methods to measure tactile stimulus masking and identify crucial perceptual thresholds relating to stimulus temporal spacing in an exploration into the masking effects of common-onset vibrotactile stimuli. Finally, we present methods to test haptic and multimodal perception in simulated scenarios including a method to simulate and control cognitive workload; and provide evidence that the commonly-used device of multimodal signal reinforcement can adversely impact performance in an ongoing primary task. The research presented in this Thesis has implications for the design of signals to be used in displays that are emerging in embedded computing environments such as cars, games, cellular phones, and medical devices.

This design-led research investigates the transfer of puppet stop-motion animators’ embodied skills from the physical workspace into a digital environment. The approach is to create a digital workspace that evokes an embodied animating experience and allows puppet stop-motion animators to work in it unencumbered. The insights and outcomes of the practical explorations are discussed from the perspective of embodied cognition. The digital workspace employs haptic technology, an advanced multi-modal interface technology capable of invoking the tactile, kinaesthetic and proprioceptive senses. The overall aim of this research is to contribute, to the Human-Computer Interaction design community, design considerations and strategies for developing haptic workspaces that can seamlessly transfer and accommodate the rich embodied knowledge of non-digital skillful practitioners. Following an experiential design methodology, a series of design studies in collaboration with puppet stop-motion animators led to the development of a haptic workspace prototype for producing stop-motion animations. Each design study practically explored the transfer of different aspects of the puppet stop-motion animation practice into the haptic workspace. Beginning with an initial haptic workspace prototype, its design was refined in each study with the addition of new functionalities and new interaction metaphors which were always developed with the aim to create and maintain an embodied animating experience. The method of multiple streams of reflection was proposed as an important design tool for identifying, understanding and articulating design insights, empirical results and contextual considerations throughout the design studies. This thesis documents the development of the haptic workspace prototype and discusses the collected design insights and empirical results from the perspective of embodied cognition. In addition, it describes and reviews the design methodology that was adopted as an appropriate approach towards the design of the haptic workspace prototype.

Multi-function interfaces have become increasingly pervasive and are frequently used in contexts which pose multiple demands on a single sensory modality. Assuming some degree of modularity in attentional processing and that using a different sensory channel for communication can reduce interference with critical visual tasks, one possibility is to divert some information through the touch sense. The goal of this Thesis is to advance our knowledge of relevant human capabilities and embed this knowledge into haptic communication design tools and procedures, in the interest of creating haptically supported interfaces that decrease rather than add to their users’ sensory and cognitive load. In short, we wanted to create tools and methods that would allow the creation of haptic signals (accomplished via display of either forces or vibrations) extending beyond the one bit of communication offered by current pagers and cellular phone buzzers. In our quest to create information-rich haptic signals we need to learn how to create signals that are differentiable. We also need to study ways to assign meanings to these signals and make sure that they can be perceived clearly when presented one after another even in environments where their recipient might be involved with other tasks. These needs frame the specific research goals of this thesis. Most of the results described here were obtained through the study of tactile (in the skin) rather than proprioceptive (force feedback) stimuli. We begin by presenting several methods to create, validate and contrast tactile stimulus dissimilarity data and investigate the design of a waveform intended to be a tactile perceptual intermediate between a square waveform and a triangle waveform. Next, we explore methods to create and test tactile signal-meaning associations and document a surprising ability of participants to exhibit high recall of quickly learned associations at two weeks in a first examination of longitudinal recall of tactile stimuli. We then present methods to measure tactile stimulus masking and identify crucial perceptual thresholds relating to stimulus temporal spacing in an exploration into the masking effects of common-onset vibrotactile stimuli. Finally, we present methods to test haptic and multimodal perception in simulated scenarios including a method to simulate and control cognitive workload; and provide evidence that the commonly-used device of multimodal signal reinforcement can adversely impact performance in an ongoing primary task. The research presented in this Thesis has implications for the design of signals to be used in displays that are emerging in embedded computing environments such as cars, games, cellular phones, and medical devices. / Science, Faculty of / Computer Science, Department of / Graduate

<p>As the volumes are entering the world of computer graphics the pure volume visualisation becomes a more important tool in for example research and medical applications. But the advance in haptics --- force feedback from the computer --- is behind. In volume haptics no equal to the proxy method so popular in surface haptics has yet emerged. Some implementations of volume haptics even use surfaces as intermediate representations so that surface haptics can be used.</p><p>The intention of this work was to create natural feeling haptic feedback from volumetric density data using pure volume haptics. The haptic algorithm would be implemented in Reachin API for the Reachin Desktop Display, together with other parts to build up a usable volume visualisation environment.</p><p>To achieve the feeling of stiffness and friction dependent on tissue type, a proxy based method was developed. In the volume the proxy is constrained by virtual surfaces defined by the local gradient. This algorithm was implemented in a volume haptics node and for visualisation a volume renderer node was implemented. These nodes can be used to setup different volume visualisation environments using VRML.</p>

Stroke is the third largest cause of death in Sweden. In 2005, 30.000 people in Sweden suffered from a stroke. The consequences of a stroke varies, but the most common disability among stroke survivors is abnormal reaching movements, which is the primer reason for limitations in activities of everyday living. Rehabilitation is essential in order to get back to everyday life. Physical assistance (or guidance) is used in rehabilitation by physiotherapists and occupational therapists to help a patient through a dicult movement for example. Today, this guidance is limited to be performed by medical personnel. With the technology of virtual environments (VE) and haptics – force feedback from a computer – there is a possibility to create guidance which does not need medical personnel. This should be used as a complement to the traditional therapy. The intention of this work is to create an invisible guidance eld, which should guide a patient's hand to a desired movement pattern, i.e. aid the patient to perform a task in a virtual environment with haptics. This guidance is added to an already existing assessment tool, which is a part of the Curictus AB rehabilitation system. The guiding system is implemented using SenseGraphics AB's H3D API. To create the feeling of guidance and a guidance eld, the Volume Haptics Toolkit, developed by Dr. Karljohan Lundin Palmerius at Linköping University, was used. The basic idea of the algorithm is to calculate an orientation vector, for every position, in which direction the guidance should guide the patient. The guidance, which is generated via a haptic device, is adaptive to the patient's movements and always guides the patient towards the target in a smooth trajectory. / Stroke är den tredje största dödsorsaken i Sverige. Under år 2005 ck 30.000 svenskar en stroke. Följderna av en stroke kan variera, men vanligast är försämrad rörlighet i en sida av kroppen, vilket också är den främsta orsaken till begränsningar i dagliga aktiviteter för  strokepatienter. Rehabilitering är nödvändig för att kunna återkomma till sitt vanliga liv. Fysisk guidning är något som sjukgymnaster och arbetsterapeuter använder sig av i rehabiliteringen för att hjälpa en patient t.ex. genom en svår rörelse. Denna hjälp är något som idag är begränsad till medicinsk personal. Med teknologi som virtuella miljöer och haptik – kraftåterkoppling från en dator – finns det möjligheter att skapa guidning som inte kräver medicinsk personal. Detta ska fungera som ett komplement till den traditionella rehabiliteringen. Avsikten med det här arbetet är att skapa ett osynligt guidningsfält som ska guida en patients hand till ett önskat rörelsemönster, d.v.s. hjälpa patienten att utföra en övning i en virtuell miljö med haptik. Denna guidning ska läggas in i ett redan existerande utvärderingsverktyg, som nns i Curictus ABs rehabiliteringssystem. Guidningssystemet är implementerat i SenseGraphics ABs H3D API. För att skapa känslan av guidning och guidningsfältet användes the Volume Haptics Toolkit, utvecklat av dr. Karljohan Lundin Palmerius vid Linköpings Universitet. Algoritmen är byggd på att för varje position, beräkna en riktningsvektor dit guidningen ska guida patienten via en haptikenhet. Guidningen, som anpassas efter patientens rörelser, guidar hela tiden mot målet i en mjuk rörelsebana.

As the volumes are entering the world of computer graphics the pure volume visualisation becomes a more important tool in for example research and medical applications. But the advance in haptics --- force feedback from the computer --- is behind. In volume haptics no equal to the proxy method so popular in surface haptics has yet emerged. Some implementations of volume haptics even use surfaces as intermediate representations so that surface haptics can be used. The intention of this work was to create natural feeling haptic feedback from volumetric density data using pure volume haptics. The haptic algorithm would be implemented in Reachin API for the Reachin Desktop Display, together with other parts to build up a usable volume visualisation environment. To achieve the feeling of stiffness and friction dependent on tissue type, a proxy based method was developed. In the volume the proxy is constrained by virtual surfaces defined by the local gradient. This algorithm was implemented in a volume haptics node and for visualisation a volume renderer node was implemented. These nodes can be used to setup different volume visualisation environments using VRML.

The problem of this study was the investigation of the desirability of teaching haptics in the basic speech classroom, the rhetorical means and strategies to be used, and the design used to describe these means.