Transcript Integration Levels

th
6
HAPTEX Meeting
PERCRO
“Discussion: Implementation Plan
and Development Levels”
Tampere, February 16th – 17th 2006
PERCRO
Scuola Superiore S. Anna
1
Integration Levels
The Whole Haptic Interface
will be the result of the
integration of the Force
Feedback Device (FFD)
developed by PERCRO and
the Tactile Actuators (TA) by
UNEXE.
The final system will be realized following progressive integration
levels with increasing level of complexity.
Five integration levels have been defined.
PERCRO
Scuola Superiore S. Anna
2
Integration Levels Overview
PERCRO
Scuola Superiore S. Anna
3
Integration Level 1
WHI configuration
FFD: Configuration A
TA: Not integrated
User/fabric Interaction in the complete HAPTEX System
• Scenario implemented: 1
• TA absent in this level, so only force feedback can be experienced
• Textile properties that can be evaluated:
 Tensile properties
 Shear properties
 Bending properties
 Weight property
PERCRO
Scuola Superiore S. Anna
4
Integration Level 2
WHI configuration
FFD: Not present.
TA: Configuration A. TA integrated
with a common mouse to acquire
the exploration movement of the
user.
User/fabric Interaction in the complete HAPTEX System
• Scenario implemented: 2
• User able to interact with the fabric only by one forefinger, moving the entire
device with the hand to reproduce stroking action
• Textile properties that can be evaluated: surface properties, but with the following
limitations:  device not able to reproduce tangential forces on the finger, so user not
able to feel friction and its fluctuation
 user able to experience vibrations correlated to the surface texture and
stroking velocity, but not the normal force exerted on the haptic interface
PERCRO
Scuola Superiore S. Anna
5
Integration Level 3
WHI configuration
FFD: Configuration A.
Only one of the two
robotic manipulators
is actively present.
TA: Configuration A.
User/fabric Interaction in the complete HAPTEX System
• Scenario implemented: 2
• User able to interact with the fabric only by one forefinger
• Textile properties that can be evaluated:  Surface properties
PERCRO
Scuola Superiore S. Anna
6
Integration Level 4
WHI configuration
FFD: Configuration A.
TA: Configuration B.
User/fabric Interaction in the complete HAPTEX System
• Scenario implemented: 3
• User able to interact with the fabric by two fingers, thumb and forefinger
• Textile properties that can be evaluated:
 Tensile properties
 Shear properties
 Bending properties
 Surface properties
 Weight property
PERCRO
Scuola Superiore S. Anna
7
Integration Level 5
WHI configuration
FFD: Configuration B.
TA: Configuration B.
User/fabric Interaction in the complete HAPTEX System
• Scenario implemented: 3
• User able to interact with the fabric by two fingers, thumb and forefinger
• Textile properties that can be evaluated:
 Tensile properties
 Shear properties
 Bending properties
 Surface properties
 Weight property
PERCRO
Scuola Superiore S. Anna
8
Integration Levels Overview
PERCRO
Scuola Superiore S. Anna
9