Thesis (M.S. in mechanical engineering)--Washington State University, December 2009. / Title from PDF title page (viewed on Jan. 11, 2010). "Department of School of Engineering and Computer Science, Vancouver." Includes bibliographical references (p. 58-59).

With the spread of latest state of the art technologies geared towards utilization of the human senses, haptic technologies have been introduced as a way of utilising the sense of touch to either solve real world problems or to enhance present experiences. This thesis focuses on using haptic technology in cars to make the driving experience safer. Modern vehicles carry GPS, music systems, sunroofs and a number of other electronic gadgets. Interaction with these devices while driving often takes the driver‘s eyes ―off the road‖ and raises safety concerns. We are proposing a unique haptic design that uses the ‗sense of touch‘ as a mode of controlling or coordinating the various technologies and convenience devices found within a car. A pattern of distinguishable haptic feedback linked to a corresponding device allows the user to operate these devices through ‗sense of touch‘ and eliminates reliance on visual interaction. This design will help to reduce the driver‘s distractions, as it will be installed in an easily accessible location such as on the steering wheel. A simulation has been done using a haptic interface ―i.e. desktop phantom to test the system‖ and a prototype has been developed which can be installed in any vehicle. This prototype has been tested to work with a limited number of convenient devices. However, further development and enhancements can be made to incorporate more devices and other user preferences. The main objective of this research is to integrate various functionalities in a robust manner, which will focus on the driver‘s safety by ensuring ―constant vision on the road‖. Distinguishable distinct haptic responses will act as unique depictions for specific convenient devices within the car, allowing the driver to interact and manipulate the settings of the device based on the detection and identification of the various unique haptic depictions. / UOIT

Since conventional audio-video teleconferencing systems have reached their limits, the needs of integrating new sensations to improve users' telecommunication experience are growing. Haptics, the sense of touch, which includes handshake, comforting hug, encouraging pat, and other physical contacts, is of great importance for interpersonal communication, since it allows people to express and receive intimate affection, intention or emotion efficiently. Motivated by a few haptic telecommunication softwares, this thesis presents an innovative webcam-based touchscreen to replace the haptic device, which is used in HugMe system as human hand, to further increase people's degree of immersion with the audio-video-haptic teleconferencing system at a more reasonable price. With our webcam-based touchscreen, the user could directly use his/her bare hand to touch the image of the person who he/she is chatting with, instead of controlling a haptic device as the medium to realize indirect touch. This thesis also gives details of the touchscreen method and our proposed mathematical models for touch position calculation. Experimental results show that our system is accurate and robust, while maintaining high compatibility with conventional audio-video teleconferencing systems for combination. With our haptic jacket, the passive user can feel the touch of the active user at the right position. Also, additional applications with the touchscreen, such as writing and drawing, are developed and tested. Finally, we draw the conclusions and talk about future work.

L'objectif principal de cette thèse est de développer une nouvelle interface pour la simulation des procédures de chirurgie mini-invasive. L'interface développée introduit les modalités visuelle, haptique et thermique pour les futures générations de simulateurs et de robots chirurgicaux. La particularité de cette recherche réside dans l'utilisation de la stimulation thermique dans une perspective d'application pour la chirurgie. Dans ce cadre, plusieurs modèles de transfert de chaleur ont été développés, implémentés et évalués pour des applications de téléprésence et de réalité virtuelle. Des sensations intéressantes ont été enregistrées, ce qui a une conséquence directe sur la capacité de distinguer entre des objets dans l'environnement et particulièrement dans le domaine médical où la sensation thermique est en corrélation avec la présence d'anomalies dans certaines maladies. Un nouveau dispositif haptique est conçu et réalisé en analysant les tâches chirurgicales en termes de dextérité, d'espace de travail, de force et de couple exigés. Nous avons tenu compte des exigences générales de conception mécaniques des interfaces haptiques à partir de ce qui a été établi dans la littérature de l'haptique. Le dispositif complet a été interfacé avec un logiciel de simulation en réalité virtuelle (SOFA). Nous avons intégré dans SOFA le module nécessaire pour la simulation thermique. L'intégration était réussie et un scénario de simulation réaliste avec le retour d'information visuel que thermique a été réalisé. Des résultats préliminaires utilisant la simulation complète sont présentés. / The main objective of this thesis focuses on the construction of a new interface for Minimally Invasive Surgery training. This interface incorporates novel broad band sensory modalities that include visual, haptic and thermal technology, into the evolution of the next generation of surgical robotic and surgical simulator. Our particular novelty in this research is in using of thermal stimulation in a MIS applied perspectives. Several thermal exchange models have been designed, implemented and evaluated for telepresence and virtual reality applications. Interesting sensations have been recorded which have a direct bearing on the ability to distinguish between objects in the surrounding environment and particularly in the medical field where temperature sensing correlates with anomalies in some know diseases. A new haptic device is designed and realized by analyzing surgical tasks in terms of required dexterity, workspace, force and torque. The mechanical design constraints have been considered with respect to the general requirements for haptic interface design from what has been well established in the haptics literature. The overall device has been interfaced with an open source VR simulator (SOFA). We added in SOFA the necessary software dealing with thermal simulation using built-in data structure and methods. The integration was successful and a realistic simulation scenario with both visual and thermal feedback was achieved. Preliminary results using the overall simulation are presented.

Since conventional audio-video teleconferencing systems have reached their limits, the needs of integrating new sensations to improve users' telecommunication experience are growing. Haptics, the sense of touch, which includes handshake, comforting hug, encouraging pat, and other physical contacts, is of great importance for interpersonal communication, since it allows people to express and receive intimate affection, intention or emotion efficiently. Motivated by a few haptic telecommunication softwares, this thesis presents an innovative webcam-based touchscreen to replace the haptic device, which is used in HugMe system as human hand, to further increase people's degree of immersion with the audio-video-haptic teleconferencing system at a more reasonable price. With our webcam-based touchscreen, the user could directly use his/her bare hand to touch the image of the person who he/she is chatting with, instead of controlling a haptic device as the medium to realize indirect touch. This thesis also gives details of the touchscreen method and our proposed mathematical models for touch position calculation. Experimental results show that our system is accurate and robust, while maintaining high compatibility with conventional audio-video teleconferencing systems for combination. With our haptic jacket, the passive user can feel the touch of the active user at the right position. Also, additional applications with the touchscreen, such as writing and drawing, are developed and tested. Finally, we draw the conclusions and talk about future work.

Thesis (M.S. in mechanical engineering)--Washington State University, December 2009. / Title from PDF title page (viewed on Jan. 4, 2010). "School of Engineering and Computer Science." Includes bibliographical references (p. 77-81).

The temporal bone is a complicated bone in which diseases can necessitate surgery. Current surgery training methods in this area include human cadaver, physical and virtual models. The objective of this research is to modify a haptic system as a part of a Mixed Reality (MR) temporal bone surgery simulator. The simulator employs a haptic model of soft tissue, which is sufficiently simple not to alter the performance characteristics of the haptic system, overlaid on a physical model of the bone to include advantages of both. A gripper has been developed to retrofit a haptic device with a surgical drill. Device characteristics are explored and modified to compensate for gravity effects of the gripper on the system and to transmit the haptic interaction point to the drill tip, where the soft tissue model’s forces should be felt. This developed system should contribute in providing a more realistic surgery simulation.

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.

The temporal bone is a complicated bone in which diseases can necessitate surgery. Current surgery training methods in this area include human cadaver, physical and virtual models. The objective of this research is to modify a haptic system as a part of a Mixed Reality (MR) temporal bone surgery simulator. The simulator employs a haptic model of soft tissue, which is sufficiently simple not to alter the performance characteristics of the haptic system, overlaid on a physical model of the bone to include advantages of both. A gripper has been developed to retrofit a haptic device with a surgical drill. Device characteristics are explored and modified to compensate for gravity effects of the gripper on the system and to transmit the haptic interaction point to the drill tip, where the soft tissue model’s forces should be felt. This developed system should contribute in providing a more realistic surgery simulation.

Since conventional audio-video teleconferencing systems have reached their limits, the needs of integrating new sensations to improve users' telecommunication experience are growing. Haptics, the sense of touch, which includes handshake, comforting hug, encouraging pat, and other physical contacts, is of great importance for interpersonal communication, since it allows people to express and receive intimate affection, intention or emotion efficiently. Motivated by a few haptic telecommunication softwares, this thesis presents an innovative webcam-based touchscreen to replace the haptic device, which is used in HugMe system as human hand, to further increase people's degree of immersion with the audio-video-haptic teleconferencing system at a more reasonable price. With our webcam-based touchscreen, the user could directly use his/her bare hand to touch the image of the person who he/she is chatting with, instead of controlling a haptic device as the medium to realize indirect touch. This thesis also gives details of the touchscreen method and our proposed mathematical models for touch position calculation. Experimental results show that our system is accurate and robust, while maintaining high compatibility with conventional audio-video teleconferencing systems for combination. With our haptic jacket, the passive user can feel the touch of the active user at the right position. Also, additional applications with the touchscreen, such as writing and drawing, are developed and tested. Finally, we draw the conclusions and talk about future work.