With the increase in popularity of virtual reality (VR) systems, haptic devices have been garnering interest as means of augmenting users' immersion and experiences in VR. Unfortunately, most commercial gloves available on the market are targeted towards enterprise and research, and are too expensive to be accessible to the average consumer for entertainment. Some efforts have been made by gaming and do-it-yourself (DIY) enthusiasts to develop cheap, accessible haptic gloves, but due to cost limitations, the designs are often simple and only provide feedback at the fingertips. Considering the many types of grasps used by humans to interact with objects, it is evident that haptic gloves must offer feedback to many regions of the hand, such as the palm and lengths of the fingers to provide more realistic feedback. This thesis discusses a novel, affordable design that provides haptic feedback to the intermediate and proximal phalanges of the fingers (index, middle, ring and pinkie) using a ratchet and pawl actuation mechanism. / Master of Science / Haptics, or simulation of the sense of touch, is already implemented in consumer devices such as smartphones and gaming controllers to augment users' immersive experiences. With the growing popularity of virtual reality, further advancements are being made, particularly in wearable haptic gloves, so users may physically feel the interactions with objects in virtual reality through their hands. Unfortunately, these products are currently inaccessible to the average consumer due to unaffordable pricing. To combat this issue, there have been efforts to develop cheap haptic gloves, but existing designs only provide feedback at the fingertips. Fingertip-only feedback can feel unnatural to users since other areas of the hand are typically also involved when grasping objects. To address the issue presented by low-cost fingertip haptic gloves, this thesis proposes a design which expands feedback to other areas of the hand while maintaining affordability and accessibility to average consumers.

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Dans l'optique d'une organologie de la performance, on commence par élaborer, autour de la notion de système haptique d'un instrument de musique, un cadre taxinomique et une typologie aboutissant à un questionnement sur l'identité conceptuelle d'un instrument-objet. Une approche inductive sur le cas exemplaire de la guitare permet alors de définir une distance potentielle dans l'interaction instrument/instrumentiste ; puis, par modélisation d'extraits de pièces musicales, de considérer l'optimisation gestique comme un argument de distanciation qui consiste en une abstraction dans le champ logique de l'espace haptique (géométrisation). Pour finir, on rend compte de l'aperception du musical par l'instrumentiste, dans le cadre d'une exécution et au travers de son instrument, par un modèle dichotomique où les concepts de processus de solmisation et de vectorisation s'avèrent proportionnels aux aspects stylistiques des œuvres et de leurs interprétations. / From the perspective of an organology of performance, we first developed, around the concept of haptic system for a musical instrument, a taxonomic framework and typology leading to a questioning about the conceptual identity of an instrument-object. An inductive approach to the exemplary case of the guitar allows us to define a potentially distance in the interaction instrument/instrumentalist ; then, by modeling excerpts of musical works, to consider gestural optimization as an argument of distancing which is an abstraction in the logical field of haptic space (geometric). Finelly, we report the apperception of musical by the instrumentalist, as part of a performance and through his instrument, with a dichotomic model where the concepts of solmisation process and vectorization are proportional to the stylistic aspects of the works and their interpretations.

Ce projet s’inscrit dans l’effort développé par l’Agence Spatiale Européenne (ESA)pour robotiser les activités extravéhiculaires à bord de la Station Spatiale Internationale et lors des futures missions d’exploration planétaire. Un aspect important de ces projets concerne le retour de force et la capacité, pour la personne qui commande les mouvements du robot, à ressentir les efforts qui lui sont appliqués. Le but est d’améliorer la qualité et l’immersion de la téléopération. L’objectif de cette thèse est la conception d’une interface haptique de type exosquelette pour le bras, pour ces missions de téléopération à retour de force. Ce système doit permettre une commande intuitive du robot téléopéré tout en reproduisant le plus fidèlement possible les efforts. Les chapitres 2 et 3 présentent les études réalisées sur un banc de test à 1 degré de liberté, destinées à comprendre le contrôle haptique ainsi qu’à évaluer différentes technologies d’actionnements et de capteurs. Les principales méthodes de contrôle sont décrites théoriquement et comparées en pratique sur le banc de test. Les chapitres 4 et 5 décrivent le développement de l’exosquelette SAM destiné aux futures applications de téléopération spatiale. La conception cinématique, le choix des actionneurs et des capteurs sont décrits. Différentes méthodes de contrôle sont également comparées avec des expériences de réalité virtuelle (sans robot esclave) et de téléopération. Pour finir, le chapitre 6 présente le projet EXOSTATION, un démonstrateur de téléopération haptique spatiale, dans lequel SAM est utilisé comme interface maître.

Haptic devices and haptic rendering is an important topic in the burgeoning field of virtual reality applications. In this thesis, I describe the design and implementation of a cutting force model integrating a haptic device, the PHANToM, with a high &ndash / powered computer. My goal was to build a six degree &ndash / of &ndash / freedom force model to allow user to interact with three &ndash / dimensional deformable objects. Methods for haptic rendering including graphical rendering, collision detection and force feedback are illustrated, implementation of haptic rendering system is introduced, and application is evaluated to explore the effectiveness of the system.

Visualization is the process of making something perceptible to the mind or imagination. The techniques for producing visual imagery of volumetric data have advanced immensely during the last decades to a point where each produced image can include an overwhelming amount of information. An increasingly viable solution to the limitations of the human sense of visual perception is to make use of not only vision, but also additional senses. This thesis presents recent work on the development of principles and algorithms for generating representations of volumetric data through the sense of touch for the purpose of visualization. The primary idea introduced in this work is the concept of yielding constraints, that can be used to provide a continuous set of shapes as a representation of features of interest in various types of volumetric data. Some of the earlier identified standard human exploratory procedures can then be used which enables natural, intuitive and effective interaction with the data. The yielding constraints concept is introduced, and an algorithm based on haptic primitives is described, which forms a powerful yet versatile implementation of the yielding constraints. These methods are also extended to handle time-varying, moving and low quality data. A framework for multimodal visualization has been built on the presented methods, and this is used to demonstrate the applicability and versatility of the work through several example applications taken from different areas.

Current robot manipulation and control paradigms have largely been developed for static or highly structured environments such as those common in factories. For most techniques in robot trajectory generation, such as heuristic-based geometric planning, this has led to putting a high cost on contact with the world. This approach and methodology can be prohibitive to robots operating in many unmodeled and dynamic environments. This dissertation presents work on using haptic based feedback (torque and tactile sensing) to formulate a controller for robot manipulation in clutter. We define “clutter” as any environment in which we expect the robot to make both incidental and purposeful contact while maneuvering and manipulating. The controllers developed in this dissertation take the form of single or multi-time step Model Predictive Control (a form of optimal control which incorporates feedback) which attempts to regulate contact forces at multiple locations on a robot arm while reaching to a goal. The results and conclusions in this dissertation are based on extensive testing in simulation (tens of thousands of trials) and testing in realistic scenarios with real robots incorporating tactile sensing. The approach is novel in the sense that it allows contact and explicitly incorporate the contact and predictive model of the robot arm in calculating control effort at every time step. The expected broader impact of this research is progress towards a new foundation of reactive feedback controllers that will include a higher likelihood of success in many constrained and dynamic scenarios such as reaching into containers without line of sight, maneuvering in cluttered search and rescue situations or working with unpredictable human co-workers.

Nowadays the World Wide Web increasingly provides rich multimedia contents to its users.In order to further enhance the experience of web-users, researchers have sought solutions to integrate yet another modality into the web experience by augmenting web content with haptic properties. In those applications, users are able to interact with web virtual environments (such as games and e-learning systems) enriched with haptic contents. However, it is not easy for designers without pro cient web programming background and basic knowledge regarding haptics, to develop a web application with haptic content enabled. Additionally, there is currently no standard to describe and reuse a well-described haptic application which can be played in web browsers. In this thesis, I present an MPEG-V based authoring tool for facilitating the development procedure of haptics-enabled web applications. The system provides an interface for users to create their own application, add custom 3D models, and modify their graphic and haptic properties. Haptic properties include the speci cation of collision detection mechanism and object surface properties which in turn directly a ect the force simulations. Finally, the user is able to export a haptic-enabled 3D scene in a standard MPEG-V format which can be reconstructed in a web haptic player. A detailed experiment is conducted to evaluate the force simulations, application development process and design of user interface. The results not only verify my proposed methodology, but also show the high acceptance level by users with all levels of programming knowledge of the system.