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.

Les interfaces haptiques à retour d’effort sont des dispositifs robotiques capables deproduire des forces à destination de l’utilisateur en téléopération et en réalité virtuelle. L’utilisation d’interface à retour d’effort en Conception Assistée par Ordinateur (CAO) offre de nouvelles perspectives pour la création et la conception de formes 3D grâce à une interactivité à la fois visuelle et kinesthésique. Elles permettent à la fois de visualiser, de manipuler en temps réel des objets virtuels et d’en ressentir les efforts (liés aux contacts, à la déformation, etc.).Les travaux présentés dans cette thèse contribuent au développement d’interfaces àretour d’effort pour répondre au mieux aux besoins de la CAO. Dans ce mémoire, l’accent est placé sur la problématique de la stabilité et son exploitation pour la commande de l’interface mais aussi pour la conception électromécanique. L’ensemble des travaux porte sur une interface à un degré de liberté.Dans un premier temps, différents facteurs liés au système mécanique (amortissement, modes vibratoires) et à l’environnement virtuel (échantillonnage, retard. . .) agissant sur la stabilité d’une interface sont mis en évidence à l’aide de critères fréquentiels. Ensuite, la conception d’une interface (choix et dimensionnement des composants) est ramenée sous forme d’un problème d’optimisation incluant une contrainte liée à la stabilité (en termes de domaine d’utilisation) et un critère de maximisation de la transparence (en termesd’inertie du dispositif).Dans un second temps, l’architecture de commande des dispositifs haptiques est étudiée. À l’aide d’une nouvelle condition de stabilité asymptotique pour les systèmes en temps discret à retard variable et en utilisant un observateur d’état augmenté comme alternative à l’utilisation standard de la méthode des différences finies arrières, la synthèse d’une nouvelle architecture de commande est proposée.La dernière partie du mémoire aborde la description du banc d’essai expérimental développé pendant le travail de thèse ainsi que les résultats des tests réalisés. / Force feedback haptic interfaces are robotic devices which are able to produce forces for the user in a teleoperation or virtual reality context. The integration of force feedback haptic interfaces in Computer-Aided Design (CAD) systems offers new perspectives for modeling and design of 3D objects by combining both visual and kinesthetic interaction. It allows viewing and manipulating virtual objects in real-time with a sense of touch (linked to contact, deformation, etc.).The works presented in this thesis contribute to the development of a force feedbackhaptic device to meet the needs of CAD at the best. In this thesis manuscript, the emphasis is put on the stability issue and its exploitation for the control of the device but also for the electromechanical conception. All the presented works concern an interface with one degree of freedom. First, several factors relative to the mechanic system (physical damping, vibration modes) and to the virtual environment (sampling period, delay-time, etc.) acting on the interface stability are highlighted through frequency domain stability criteria. Then, the interface design (choice and sizing of components) is expressed on the form of an optimization problem including a constraint linked to stability (in terms of application area).In a second part, the control architecture of haptic devices is studied. Using a newstability criterion for systems in discrete time with variable delay and an augmented state observer as an alternative to the standard finite difference scheme, the synthesis of novel control architecture is proposed.The last part of the manuscript deals with the description of the experimental testbench developed during the thesis period together with the results of some realized tests.

Title: Cerebral projection of haptic contact via sLORETA imaging Objectives: The aim of this work is to evaluate changes in intracerebral source activity via sLORETA imaging during haptic stimulation of hands, while this contact is modified by a mirror illusion in comparison to calm state with open eyes. The work seeks to specify localization of such activity. Methods: Ten healthy volunteers aged 23-42 participated in the experiment. The electrical brain activity was detected with scalp EEG. The experiment was divided in 5 phases. First we measured the brain activity during calm state with open and with closed eyes, each for 5 minutes. Afterwards the subjects were seated at a table with a mirror occluding their right hand and reflecting their left hand. The brain activity was than recorded during 4 modifications of the experiment in duration of 2 minutes each. The first modification contained symmetrical haptic contact on both hands, modification 2 involved stimulation on the left hand only, during modification 3 the stimulus was applied on the right hand only and modification 4 had no tactile stimulus on neither side. The order of modifications for each individual was randomized. The EEG data were converted into sLORETA program, which allows to localize the source of the recorded brain activity...

<div>Haptic interfaces possess great potential for both transmitting information and affecting emotion. I present two studies exploring these two applications.</div><div><br></div><div>The first study investigates the ability to selectively attend to certain tactile stimuli while ignoring others. Understanding this ability is necessary when designing vibrotactile displays that present multiple simultaneous signals for information transmission. Participants in this study wore a tactile display on each arm. They were trained to identify nine stimuli varying in location and frequency and tested on stimulus identification under various conditions, depending on whether one or both arms were stimulated and whether one or both arms were attended to. The results provide empirical evidence for selective attention of vibrotactile stimuli and indicate that participants can selectively attend to three locations and two frequencies with high accuracy.</div><div><br></div><div>The second study explores whether haptics can enhance the perceived immersiveness, novelty, and creepiness of a haunted house. Vibrotactile stimuli inspired by natural phenomena were presented to the user’s palm, and concealed actuators rattled the user’s chair. Séance-themed audio and visuals provided narrative context. In a post-experience questionnaire, nineteen of twenty-two participants reported that haptic effects increased their sense of immersion. A follow-up experiment was conducted to compare the impact of using multiple, distinct haptic stimuli as opposed to repeating a single,</div><div>multiplex stimulus. The results demonstrate both the influence of context on stimulus interpretation, as well as the unique payoffs when stimuli are tailored for a particular context.</div>

This project is an active exploration of subjectivities through the medium of weaving. In a narrative illustrated with woven works, the emotional trajectory of this person of mixed cultural background through Swedish society is described. First, the work is contextualized in terms of the larger politico-cultural-discursive context, entitled the outside. It is then positioned in terms of the individual context, the inside, largely dramatized as the developments in the art of western tapestry in the past century. This culminates in the final works, three of which are presented in the final exhibition. They are entitled monads, the etymology of which, in Greek, relates to the words one, alone, or singularity. Each is a conceptual microcosm proposing a different light distribution scheme. They are imprints of alternative actualizing tendencies. There could only be one; at the end of the experiment, Schrodinger’s cat is either dead or alive. The collapse involves the very structure of the ground, and is therefore embedded directly into the weave structure. But remember, each act of observation is an irreversible disturbance to the system. In the interpretation of the primary emanation arises difference, but in which direction will the pendulum swing, and on what forces does its motion hinge? Do subjectivities follow the locality assumption? Do you produce subjectivities or do they produce you?

La micromanipulation a un grand potentiel pour révolutionner la recherche biologique et les soins médicaux. À petite échelle, microrobots peuvent effectuer des tâches médicales avec peu invasive, et d'explorer la vie à un niveau fondamental. Pinces optiques sont l'une des techniques les plus populaires pour la manipulation biologique. La production de petits lots qui exige une grande flexibilité repose principalement sur le processus de téléopération. Cependant, le niveau limité d'intuitivité rend de plus en plus difficile de conduire efficacement les tâches de manipulation et d'exploration dans le micromonde complexe. Dans de telles circonstances, des chercheurs pionniers ont proposé d'incorporer l'haptique dans la boucle de contrôle du système OTs, qui vise à gérer les tâches de micromanipulation de manière plus flexible et plus efficace. Cependant, la solution n'est pas encore complète, et il ya deux défis principaux à résoudre dans cette thèse: Détection de force 3D, qui doit être précis, rapide et robuste dans un espace de travail suffisamment grand; Haute vitesse jusqu'à 1 kHz force de rétroaction, ce qui est indispensable pour permettre une sensation tactile fidèle et d'assurer la stabilité du système. Dans la micromanipulation des pinceaux optiques, la vision est un bon candidat pour l'estimation de la force puisque le modèle force-position est bien établi. Cependant, le suivi de 1 kHz dépasse la vitesse des procédés de traitement classiques. La discipline émergente de l'ingénierie biomorphe visant à intégrer les comportements de vie dans le matériel informatique ou le logiciel à grande échelle rompt le goulot d'étranglement. Le capteur d'image asynchrone basé sur le temps (ATIS) est la dernière génération de prototype de rétine de silicium neuromorphique qui enregistre seulement les changements de contraste de scène sous la forme d'un flux d'événements. Cette propriété exclut le fond redondant et permet la détection et le traitement des mouvements à grande vitesse. La vision événementielle a donc été appliquée pour répondre à l'exigence de la rétroaction de force 3D à grande vitesse. Le résultat montre que les premières pinces optiques haptiques 3D à grande vitesse pour une application biologique ont été obtenues. La réalisation optique et les algorithmes de suivi événementiel pour la détection de force 3D à grande vitesse ont été développés et validés. L'exploration reproductible de la surface biologique 3D a été démontrée pour la première fois. En tant que puissant capteur de force 3D à grande vitesse, le système de pinces optiques développé présente un potentiel important pour diverses applications. / Micromanipulation has a great potential to revolutionize the biological research and medical care. At small scales, microrobots can perform medical tasks with minimally invasive, and explore life at a fundamental level. Optical Tweezers are one of the most popular techniques for biological manipulation. The small-batch production which demands high flexibilities mainly relies on teleoperation process. However, the limited level of intuitiveness makes it more and more difficult to effectively conduct the manipulation and exploration tasks in the complex microworld. Under such circumstances, pioneer researchers have proposed to incorporate haptics into the control loop of OTs system, which aims to handle the micromanipulation tasks in a more flexible and effective way. However, the solution is not yet complete, and there are two main challenges to resolve in this thesis: 3D force detection, which should be accurate, fast, and robust in large enough working space; High-speed up to 1 kHz force feedback, which is indispensable to allow a faithful tactile sensation and to ensure system stability. In optical tweezers micromanipulation, vision is a sound candidate for force estimation since the position-force model is well established. However, the 1 kHz tracking is beyond the speed of the conventional processing methods. The emerging discipline of biomorphic engineering aiming to integrate the behaviors of livings into large-scale computer hardware or software breaks the bottleneck. The Asynchronous Time-Based Image Sensor (ATIS) is the latest generation of neuromorphic silicon retina prototype which records only scene contrast changes in the form of a stream of events. This property excludes the redundant background and allows high-speed motion detection and processing. The event-based vision has thus been applied to address the requirement of 3D high-speed force feedback. The result shows that the first 3D high-speed haptic optical tweezers for biological application have been achieved. The optical realization and event-based tracking algorithms for 3D high-speed force detection have been developed and validated. Reproducible exploration of the 3D biological surface has been demonstrated for the first time. As a powerful 3D high-speed force sensor, the developed optical tweezers system poses significant potential for various applications.

Le retour haptique disponible aujourd'hui dans les produits grand public est d'un intérêt limité pour les interactions tactiles et moins efficace que l'utilisation d'un clavier physique pour la saisie de texte. Relativement simple, celui-ci ne peut communiquer que peu d'informations : signaler silencieusement un appel, notification de messages ou confirmation de frappe de touches sur clavier virtuel. Bien que des améliorations aient été apportées aux technologies haptiques existantes, comme des actionneurs plus performants et des gammes de vibrations plus larges afin de simuler des boutons ou des textures, elles restent limitées à un retour tactile unique. Ceci empêche tout usage multi-doigts ou multi-utilisateurs en simultané.Ce travail vise à développer un retour tactile statique et dynamique sur grande surface (format A4). Les interactions avec les écrans tactiles nécessitant un retour tactile plus riche et plus performant, deux types de retour complémentaires ont été identifiés afin de les enrichir. Le retournement temporel des ondes de flexions dans les plaques est étudié afin de simuler l'appui sur un bouton (retour statique). La 2ème approche se base sur la stimulation par électrovibration, qui permet de simuler des textures ou de différencier des zones d'interactions (retour dynamique). Afin d’estimer de manière précise la résolution spatiale du procédé tactile par retournement temporel, un modèle analytique basé sur l'équation de Kirchhoff est proposé. Des mesures expérimentales confrontées au modèle ont permis de le valider. Par ailleurs, des règles de conception sont élaborées et appliquées pour le développement d'un nouveau prototype avec une électronique dédiée sur une plaque en verre de faible épaisseur (1.1 mm). Différents types de signaux de commande sont étudiés. La quantification sur un bit (i.e. signaux de forme carré) avec filtrage des fréquences audibles s’avère être l'alternative la plus efficiente en terme d'amplitude de déplacement générée et de réduction des émissions sonores. Des problématiques de dimensionnement, comme le placement des actionneurs, l'homogénéité de la résolution spatiale et l'amplitude de déplacement sont analysées. L'effet de la force d'appui du doigt sur l'amplitude de déplacement est quantifié (6 % de perte d'amplitude dû à une force d'appui de 2 N sur une localisation autre que le point de focalisation, et jusqu'à 37 % pour la même force d'appui sur le point de focalisation).Le seuil de détection d'une focalisation par retournement temporel mesuré sur 10 utilisateurs se situe à environ 10 µm et est peu influencé par la force d'appui de l'utilisateur sur l'écran. En répétant la focalisation des ondes de manière à former un signal modulé en amplitude, il devient possible de générer des retours tactiles enrichis, notamment de simuler le comportement du clic d’un bouton poussoir. Des motifs avec des fréquences de répétition et des enveloppes différentes sont comparés. Il apparaît qu'une fréquence de 200 Hz et une enveloppe en sinus cardinal sont les plus plaisants pour l’utilisateur.Par ailleurs, l'électrovibration produit des stimuli capables de reproduire une sensation de texture, en modifiant le coefficient de friction entre le doigt et la surface à explorer. L’intensité de ces stimuli dépend de l'épaisseur de peau du bout du doigt. Les seuils de détection des mécanorécepteurs sont dépendants de la fréquence du signal appliqué. Une étude utilisateur ayant pour but de déterminer l'influence de la force d'appui sur le seuil de détection d’une stimulation par électrovibration a été conduite. Les seuils minimaux ont été observés pour une fréquence de 240 Hz. La force d'appui a une influence limitée sur les seuils de détection.La combinaison des deux approches de stimulations (retournement temporel et électrovibration) sur une même surface offre un retour tactile riche et multi-point pour une interaction statique (simulation de clics) et dynamique (simulations de textures). / The current haptic feedback in end user products provides limited tactile interactions and is less efficient than physical keyboards for typing. Most people are used to the simple tactile feedback available in smartphones. However, it is very limited, and can only convey little information: silently signaling a phone call, notifying an incoming message or acknowledging touch inputs when typing on a virtual keyboard. Although advances are made to enrich existing technologies in hand-held devices, such as more efficient actuators with broader ranges of vibrations to emulate buttons or textures, they remain limited to a single point feedback. This prevents any simultaneous multi-user scenario.This work aims to develop static and dynamic haptic feedback on large surfaces (A4 format). Interaction with screen based devices is in need of better and richer haptic feedback. Two types of feedback with complimentary performance are identified as necessary to enrich tactile interactions. Time reversal, as a static feedback technology, is studied to simulate a button press. Electrovibration, as a dynamic feedback, is investigated to simulate tactile textures or to differentiate specific areas of interaction.An analytical model based on Kirchhoff's equation for wave propagation to compute the spatial resolution of time reversal of flexural waves applied to plates is presented. Measurements on a physical system are confronted to the model's prediction. Design guidelines are elaborated and used to develop a new time reversal enabled screen with adapted drive electronics, on a 1.1 mm thick glass plate. Driving signal alternatives are investigated. Signals quantified on one bit (i.e. square type signals) with audible frequencies filtered out are found to be the most efficient in terms of amplitude generation and audible noise emission. Integration issues, such as the actuators’ distribution on the plate and their impact on focalisation point's amplitude and spatial resolution homogeneity are investigated. The effect of the fingertip pressure on the amplitude vibration is studied (6% loss of amplitude due to a 2N force applied by a fingertip on a position other than the focalisation location, and up to 37% for the same force at the focus point's location).The detection threshold measured on ten users is found to be about 10 µm and is not influenced by the force applied on the screen. While a single impact (one impulse) demonstrates the feasibility of time reversal for tactile feedback, a repetition of impacts varying in amplitude offers the possibility to generate richer haptic feedback (such as a button click). Patterns with different repetition frequencies and envelopes are compared in a user study. It appears that frequencies of 200 Hz and the smoothness of the cardinal sine envelope are found to be the best in terms of pleasantness.On the other hand, electrovibration stimulations are able to create a texture feedback by modifying the apparent friction coefficient between the fingertip and the surface. The electrostatic force generation depends on the fingertip skin's thickness. The mechanoreceptors detection threshholds are frequency dependent. A user study on the influence of the applied force on the perception threshold of tactile feedback is presented. The minimum perception thresholds are observed for 240 Hz stimulus. The effect of the applied force appears to have limited effect on the perception threshold.The combination of both stimulation approaches (time reversal and electrovibration) on a single surface will offer a rich multi-point tactile feedback, both for static buttons and dynamic textures.

Physical haptic interaction is added to the modern manipulation with objects in virtual space. In content of this master's thesis the haptic technology is represented by SensAble Phantom Omni device and OpenHaptics toolkit, which is related to the device. Reader is initially introduced into mathematical basics of manipulation and into haptic technology history including current state. The introduction into Openhaptics toolkit follows as well as HDAPI and HLAPI libraries description. As a result of this theoretical basics demo aplications have been created, that show basic and advanced abilities of the Phantom Omni device. Demos represent the functionality of the device as examples integrating well-known elementary physical laws and events.

Denna undersökning belyser varför beröring är ett viktigt sinne för att stärka VR-upplevelser. Genom att använda beröring som metod för att utforska fysiska egenskaper har vi skapat endigital gestaltning som demonstrerar hur denna unika förmåga kan användas. Denna undersökning har bidragit till skapandet av ett nytt verktyg för framtida utveckling av VR-upplevelser, vilket har öppnat upp möjligheter att använda beröring som huvudmekanik. Genom att kombinera haptisk feedback och visualisering av händer och omgivning kan vi utforska och interagera med VR-spel på ett nytt och spännande sätt. / This study highlights why the sense of touch is important for enhancing VR experiences. By using touch as a method to explore physical properties, we have created a digital representation that demonstrates how this unique ability can be utilized. This study has contributed to the development of a new developer tool for future VR experience design, which has opened up possibilities for incorporating the sense of touch as a main mechanic. By combining haptic feedback and visualization of hands and the environment, we can explore and interact with VR games in a new and exciting way.

The objective of this study was to assess the biomechanical and subjective measures of elementary school teachers while wearing active and/or passive wearable devices during the average workday. Five elementary school teachers wore a harness that held an Upright GO 2 posture tracking device and a Vicon Blue Trident sensor on the participant's upper back for two school days. Haptic feedback was on for one day and off for the other. Data from the Vicon wearable was analyzed to determine participants’ trunk flexion severity, frequency, and duration. Surveys were used to determine perceived exertion and perception of wearable technology. This study proved that teachers are undergoing severe trunk flexion throughout the day; however, there was not consistent improvement in trunk flexion when haptic feedback was applied. Results also indicated that perceived exertion levels of teachers did not always correlate to the frequency of trunk flexion measured through the wearable device.