Mid-Air Haptic

Fady E. F. Samann

23-10-2018
  Haptic is the science that studies the
manual sensing and manipulation objects
What is Haptic? in a natural or synthetic environment
through touch.
 Haptic perception represents active
exploration and the process of
recognizing objects through touch.
  Can be divided into sub systems:
1. sensory capabilities: kinesthetic and tactile senses
enable gathering information about the environment
through touch.

2. motor capabilities: the musculoskeletal system allows

Human Haptic positioning of the human sensory system for obtaining
System information about objects and for manipulation of
objects through interaction.
3. cognitive capabilities: the central nervous system
analyzes gathered information about the environment
and maps it into motor functions based on objectives
of the task.
 Therefore, the touch falls into a bidirectional closed
loop of sensing and acting.
  Receptors: biological transducers that respond to stimuli
coming from the environment or from within the human
body and transmit signals to the central nervous system.
 Kinesthetic Receptors: mechanoreceptors, which are found
in muscles, are primary and secondary receptors (also
Receptors? called Type I and Type II sensory fiber) located in muscle
spindles.
 The human body consists of 75 joints (44 of them in the
hands) and all joints have receptors that provide kinesthetic
information, therefore, it is impossible to cover them with a
single haptic display.

 Tactile Receptors: cutaneous mechanoreceptors are found

in the skin. Roughness, lateral skin stretch, relative
tangential movement and vibrations are the basic building
blocks of sensations.
 Ruffini's end organ (skin stretch), End-bulbs of Krause (Cold),
Meissner's corpuscle (changes in texture, slow vibrations),
Pacinian corpuscle (deep pressure, fast vibrations), Merkel's
disc (sustained touch and pressure), Free nerve endings,
thermoreceptor, nociceptors (damaging or potentially
damaging stimuli ), chemoreceptors (responds to a chemical
substance)
  Haptic Display: is a mechanical device designed
for transfer of kinesthetic or tactile stimuli to the
user.
 Haptic displays do not only enable perception of
the environment, but also manipulation of objects
Haptic Displays in the environment. Thus, the display requires
direct contact with the user, but not always.
  Kinesthetic haptic displays are suitable for relatively
coarse interactions with virtual objects. They are usually
haptic robots for upper extremities.
 Manipulandum devices
 Grasp devices
 Exoskeleton devices

Kinesthetic
Haptic displays

Measure Force and Display Movement

or
Measure Movement and Display Force
One of the main issues with tactile feedback is
the necessary high rate refresh requirements in
order to provide a satisfying experience (1kHz
or more); if we compare it with video (60Hz or
more)
Tactile Haptic
Displays
 Tactile haptic displays use the cutaneous sensory
system to provide haptic feedback. It usually relies on
actuators or motor-based technologies.
 Cutaneous devices
 Active surfaces
 Mid-Air devices
Mid-Air Haptic
Devices
  The most recent approach to mid-air haptics is via ultrasonic
transducers phased array.

 The principle of this technology is based on the acoustic radiation force

theory, whereby ultrasonic transducers phased array is used to apply
forces on a target in mid-air.

 When the human skin is subjected to focused ultrasonic beam, it is

reflected vertically at the skin surface producing vertical force in the
direction of the incident beam.

 Main issue is the resolution.

Mid-Air Haptics  Future Work for PhD (increase frequency, acoustic lens)

using Ultrasonic
Sensors
Thank You
for your attention