Abstract
This chapter introduces the philosophical and social aspects of the human haptic sense as a basis for systems addressing this human sensory channel. Several definitions of haptics as a perception and interaction modality are reviewed to serve as a common basis in the course of the book. Typical application areas such as telepresence, training, and interaction with virtual environments and communications are presented, and typical haptic systems from these are reviewed. The use of haptics in technical systems is the topic of this book. But what is haptics in the first place? A common and general definition is given as
but this will probably not suffice for the purpose of this book. This chapter gives a detailed insight into the definition of haptics (Sect. 1.2) and introduces four general classes of applications for haptic systems (Sect. 1.3) as the motivation for the design of haptic systems and—ultimately—for this book. Before that, we give a short summary of the philosophical and social aspects of this human sense (Sect. 1.1). These topics are not addressed any further in this book, but should be kept in mind by every engineer working on haptics.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Please note that entries in the glossary and abbreviations are denoted by a \(\hookrightarrow \) throughout the book.
- 2.
Affiliation of the majority of the authors of this book.
References
Acker A (2011) Anwendungspotential von Telepräsenz-und Teleaktionssystemen für die Präzisionsmontage. Dissertation, Technische Universität München, München. http://www.mediatum.ub.tum.de/doc/1007163/1007163.pdf
Adams RJ (1999) Stable haptic interaction with virtual environments. PhD thesis, University of Washington, Washington
Ahlberg G et al (2007) Proficiency-based virtual reality training significantly reduces the error rate for residents during their first 10 laparoscopic cholecystectomies. Am J Surg 193(6):797–804. doi:10.1016/j.amjsurg.2006.06.050
Allin S, Matsuoka Y, Klatzky R (2002) Measuring just noticeable differences for haptic force feedback: implications for rehabilitation. In: Proceedings of the 10th symposium on haptic interfaces for virtual environments and teleoperator systems, Orlando, FL, USA. doi:10.1109/HAPTIC.2002.998972
Anuguelov N (2009) Haptische und akustische Kenngrößen zur Objektivierung und Optimierung der Wertanmutung von Schaltern und Bedienfeldern für den KFZ-Innenraum. Dissertation, Technische Universität Dresden. http://www.d-nb.info/1007551739
Asque C, Day A, Laycock S (2012) Cursor navigation using haptics for motion-impaired computer users. In: Haptics: perception, devices, mobility, and communication. Springer, Heidelberg, pp 13–24. doi:10.1007/978-3-642-31401-8_2
Bajka M et al (2009) Evaluation of a new virtual-reality training simulator for hysteroscopy. Surg Endosc 23(9):2026–2033. doi:10.1007/s00464-008-9927-7
Battenberg Robotic GmbH & Co. KG (2007) Wahrnehmungen messbar machen. Company information: http://www.messrobotic.de/fileadmin/pdf/Produkte-MessroboticStandard-Wahrnehmungen.pdf
Bauernschmitt R et al (2005) Towards robotic heart surgery: introduction of autonomous procedures into an experimental surgical telemanipulator system. Int J Med Robot Comput Assist Surg 1(3):74–79. doi:10.1002/rcs.3010.1002/rcs.30
Bordegoni M et al (2010) A force and touch sensitive self-deformable haptic strip for exploration and deformation of digital surfaces. In: Kappers AML, Bergmann-Tiest WM, van der Helm CT (eds) Haptics: generating and perceiving tangible sensations. LNCS 6192. Proceed ings of the eurohaptics conference, Amsterdam, NL. Springer, Heidelberg, pp 65–72. doi:10.1007/978-3-642-14075-4_10
Bowman D, Hodges L (1999) Formalizing the design, evaluation, and application of interaction techniques for immersive virtual environments. J Vis Lang Comput 10(1):37–53. doi:10.1006/jvlc.1998.0111
Brooks FP et al (1990) Project GROPE—haptic displays for scientific visualization. ACM SIGGRAPH Comput Graph 24:177–185. doi:10.1145/97880.97899
Brooks TL (1990) Telerobotic response requirements. In: IEEE international conference on systems, man and cybernetics, Los Angeles, CA, USA. doi:10.1109/ICSMC.1990.142071
Brown L, Brewster S, Purchase H (2006) Multidimensional tactons for non-visual information presentation in mobile devices. In: Conference on human-computer interaction with mobile devices and services, pp 231–238. doi:10.1145/1152215.1152265
Burdea GC, Coiffet P (2003) Virtual reality technology. In: Burdea GC, Coiffet P (eds) Wiley-Interscience, New York, NY, USA. ISBN: 978-0471360896
Carbon C-C, Jakesch M (2013) A model for haptic aesthetic processing and its implications for design. Proc IEEE 101(9):2123–2133. doi:10.1109/JPROC.2012.2219831
Cholewiak SA, Tan HZ, Ebert DS (2008) Haptic identification of stiffness and force magnitude. In: Symposium on haptic interfaces for virtual environments and teleoperator systems. Reno, NE, USA. doi:10.1109/HAPTICS.2008.4479918
Clark F, Horch K (1986) Kinesthesia. In: Boff KR, Kaufman L, Thomas JP Handbook of perception and human performance. Wiley-Interscience, New York, NY, USA, pp 13.1–13.61. ISBN: 978-0471829577
Coles TR, Meglan D, John NW (2010) The role of haptics in medical training simulators: a survey of the state-of-the-art. IEEE Trans Haptics 4:51–66. doi:10.1109/TOH.2010.19
Daniel R, McAree P (1998) Fundamental limits of performance for force reflecting teleoperation. Int J Rob Res 17(8):811–830. doi:10.1177/027836499801700801
Darian-Smith I, Johnson K (1977) Thermal sensibility and thermoreceptors. J Invest Dermatol 69(1):146–153. doi:10.1111/1523-1747.ep12497936
Dennerlein J, Millman P, Howe R (1997) Vibrotactile feedback for industrial telemanipulators. In: 6th Annual symposium on haptic Interfaces for virtual environment and teleoperator systems. http://www.biorobotics.harvard.edu/pubs/1997/vibrotactile.pdf
Eb Vander Poorten E, Demeester E, Lammertse P (2012) Haptic feedback for medical applications, a survey. In: Actuator conference, Bremen. https://www.radhar.eu/publications/e.-vander-poorten-actuator12-haptic-feedback-formedical-applications-a-survey
Enriquez M, MacLean K, Chita C (2006) Haptic phonemes: basic building blocks of haptic communication. In: Proceedings of the 8th international conference on multimodal interfaces (ICMI). Banff, Alberta. ACM, Canada, pp 302–309. doi:10.1145/1180995.1181053
Estevez P et al (2010) A haptic tele-operated system for microassembly. In: Ratchev S (ed) Precision assembly technologies and systems. Springer, Heidelberg, pp 13–20. doi:10.1007/978-3-642-11598-1_2
Fiene J, Kuchenbecker KJ, Niemeyer G (2006) Event-based haptic tapping with grip force compensation. In: IEEE symposium on haptic interfaces for virtual environment and teleoperator systems. doi:10.1109/HAPTIC.2006.1627063
Gall S, Beins B, Feldman J (2001) Psychophysics. The Gale encyclopedia of psychology, Gale. ISBN: 978-0787603724
Gault RH (1927) On the upper limit of vibrational frequency that can be recognized by touch. Sci New Ser 65(1686):403–404. doi:10.1126/science.65.1686.403
Gerling G, Thomas G (2005) The effect of fingertip microstructures on tactile edge perception. In: Haptic interfaces for virtual environment and teleoperator systems, First joint eurohaptics conference and symposium on WHC, pp 63–72. doi:10.1109/WHC.2005.129
Getzinger G (2006) Haptik—rekonstruktion eines verlustes. Naturerkenntnis, Hautsinn. Profil, Wien, p 146. ISBN: 3-89019-521-0
Gilson R, Redden E, Elliott L (2007) Remote tactile displays for future soldiers. Technical report, Aberdeen Proving Ground, MD. U.S. Army Research Laboratory, USA http://www.dtic.mil/cgi-bin/GetTRDoc?Location=U2&doc=GetTRDoc.pdf&AD=ADA468473
Goertz RC (1964) Manipulator systems development at ANL. In: Proceedings of the 12th conference on remote systems technology, ANS, pp 117–136
Grunwald M (2008) Human haptic perception: basics and applications. Birkhäuser, Switzerland. ISBN: 3764376112
Grunwald M (2008) Haptic perception in anorexia nervosa. In: Grünwald M (ed) Human haptic perception: basics and applications. Birkhäuser, Basel. ISBN: 3764376112
Grunwald M et al (2001) Haptic perception in anorexia nervosa before and after weight gain. J Clin Exp Neuropsychol 23(4):520–529. doi:10.1076/jcen.23.4.520.1229
Guthart G, Salisbury J Jr (2000) The intuitive telesurgery system: overview and application. In: IEEE international conference on robotics and automation (ICRA), San Francisco, CA, USA, vol 1, pp 618–621. doi:10.1109/ROBOT.2000.844121
Haptex (2007) Grant No. IST-6549, last visited 07.03.2012. European Union. http://www.haptex.miralab.unige.ch
HaptiMap—Haptic, audio and visual interfaces for maps and location based services (2013) European Union Grant No. FP7-ICT-224675. www.haptimap.org
Hatzfeld C, Kern TA, Werthschüzky R (2010) Improving the prediction of haptic impression user ratings using perception-based weighting methods: experimental evaluation. In: Kappers AML et al (ed) Haptics: generating and perceiving tangible sensations, LNCS 6191. Proceedings of the eurohaptics conference, Amsterdam, NL. Springer, Heidelberg, pp 93–98. doi:10.1007/978-3-642-14064-8_14
Hogan N (1989) Controlling impedance at the man/machine interface. In: IEEE international conference on robotics and automation (ICRA), Scottsdale, AZ, USA, pp 1626–1631. doi:10.1109/ROBOT.1989.100210
Hollins M (2002) Touch and haptics. In: Pashler H (ed) Steven’s handbook of experimental psychology. Wiley, New York, pp 585–618. ISBN: 978–0471377771. doi:10.1002/0471214426.pas0114
Ino S et al (1993) A tactile display for presenting quality of materials by changing the temperature of skin surface. In: IEEE international workshop on robot and human communication. doi:10.1109/ROMAN.1993.367718
Ishii H (2004) Bottles: a transparent interface as a tribute to Mark Weiser. In: IEICE: transactions on information and systems, pp E87–D.6. doi:10.1145/346152.346159
ISO 9241 (2011) Ergonomics of human system interaction—part 910: framework for tactile and haptic interaction. ISO
Jagodzinski R, Wintergerst G (2009) A toolkit for developing haptic interfaces—control dial based on electromagnetic brake. In: UIST, Victoria, BC, CA. http://www.acm.org/uist/archive/adjunct/2009/pdf/demos/paper184.pdf
Jandura L, Srinivasan M (1994) Experiments on human performance in torque discrimination and control. In: Dynamic systems and control, ASME, DSC-55 1, pp 369–375. http://www.rle.mit.edu/touchlab/publications/1994_002.pdf
Johansson G (2008) Haptics as a substitute for vision. In: Hersh MA, Johnson MA (eds) Assistive technology for visually impaired and blind people. Springer, Heidelberg, pp 135–166. ISBN: 978-1846288661
Jones L, Berris M (2002) The psychophysics of temperature perception and thermal interface design. In: 10th symposium on haptic interfaces for virtual environments and teleoperator systems, Orlando, FL, USA. doi:10.1109/HAPTIC.2002.998951
Kant I (1983) Anthropologie in pragmatischer Hinsicht. Philosophische anthropologie, Charakter. Reclam, Stuttgart, p 389. ISBN: 3-15-007541-6
Kassner S (2013) Haptische mensch-maschine-schnittstelle für ein laparoskopisches Chirurgie-system. Dissertation, Technische Universität Darmstadt. http://www.tubiblio.ulb.tudarmstadt.de/63334
Kern T (2010) Requirements and design considerations for the measurement of haptic object properties. In: Linz A (ed) Procedia engineering. Proceedings of the eurosensors conference, vol 5, pp 592–596. doi:10.1016/j.proeng.2010.09.179
Kim S et al (2012) Route guidance modality for elder driver navigation. In: Pervasive computing, LNCS 7319. Springer, Heidelberg, pp 179–196. doi:10.1007/978-3-642-31205-2_12
King C-H et al (2009) Tactile feedback induces reduced grasping force in robot-assisted surgery. IEEE Trans Haptics 2(2):103–110. doi:10.1109/TOH.2009.4
Kirkpatrick A, Douglas S (2002) Application-based evaluation of haptic interfaces. In: 10th symposium on haptic interfaces for virtual environment and teleoperator systems, Orlando, FL, USA, pp 32–39. doi:10.1109/HAPTIC.2002.998938
Kruger L, Friedman MP, Carterette EC (eds) (1996) Pain and touch. Academic Press, Maryland Heights
Lederman SJ, Klatzky RL (2009) Haptic perception: a tutorial. Attention Percept Psychophysics 71(7):1439. doi:10.3758/APP.71.7.1439
Liedecke C, Baumann G, Reuss H-C (2014) Potential of the foot as a haptic interface for future communication and vehicle controlling. In: 10th ITS European congress, Helsinki, FIN
Loomis JM, Lederman SJ (1986) Tactual perception. Handb Percept Human Perform 2: 2
My Frebble (2014) Last visited March 2014. http://www.myfrebble.com
Néret G (1998) Erotik in der Kunst des 20. Jahrhunderts. ErotikMotiv; Kunst; Geschichte 1900–199213.1c. Taschen, Tokyo, p 200. ISBN: 3-8228-7853-7
Nitsch V, Färber B (2012) A meta-analysis of the effects of haptic interfaces on task performance with teleoperation systems. IEEE Trans Haptics 6:387–398. doi:10.1109/ToH.2012.62
Norrsell U et al (2001) Tactile directional sensibility and diabetic neuropathy. Muscle Nerve 24(11):1496–1502. doi:10.1002/mus.1174
Pott P, Scharf H, Schwarz M (2005) Today’s state of the art in surgical robotics. Comput Aided Surg 10(2):101–132. doi:10.1080/10929080500228753
Pott P, Schwarz M (2010) State of the art of medical robotics—areas of application. In: Jahrestagung der DGBMT 44
Prescher D, Weber G, Spindler M (2010) A tactile windowing system for blind users. In: Proceedings of the 12th international ACM SIGACCESS conference on computers and accessibility. ACM, Orlando, pp 91–98. doi:10.1145/1878803.1878821
Rausch J (2012) Entwicklung und Anwendung miniaturisierter piezoresistiver Dehnungsmesselemente. Dissertation, Technische Universität Darmstadt. http://www.tuprints.ulb.tudarmstadt.de/3003/1/Dissertation-Rausch-online.pdf
Reisinger J (2009) Parametrisierung der Haptik von handbetätigten Stellteilen. Dissertation, Technische UniversitätMünchen. https://www.mediatum.ub.tum.de/doc/654165/654165.pdf
Riener R et al (2002) Orthopädischer trainingssimulator mit haptischem feedback. Automatisierungstechnik 50:296–301. doi:10.1524/auto.2002.50.6.296
Röse A (2011) Parallelkinematische Mechanismen zum intrakoporalen Einsatz in der laparoskopischen Chirurgie. Dissertation, Technische Universität Darmstadt. http://www.tuprints.ulb.tu-darmstadt.de/2493/1/Dissertation_Roese_Druckversion.pdf
Rösler F, Battenberg G, Schüttler F (2009) Subjektive Empfindungen und objektive Charakteristika von Bedienelementen. Automobiltechnische Zeitschrift 4:292–297. doi:10.1007/BF03222068
Ryu J et al (2010) Vibrotactile feedback for information delivery in the vehicle. IEEE Trans Haptics 3(2):138–149. doi:10.1109/TOH.2010.1
Samur E (2012) Performance metrics for haptic interfaces. Springer, Heidelberg. ISBN 978–1447142249. doi:10.1007/978-1-4471-4225-6
Sato K, Maeno T (2012) Presentation of sudden temperature change using spatially divided warm and cool stimuli. In: Haptics: perception, devices, mobility, and communication. Springer, Heidelberg, pp 457–468. doi:10.1007/978-3-642-31401-8_41
Sato M, Poupyrev I, Harrison C (2012) Touché: enhancing touch interaction on humans, screens, liquids, and everyday objects. In: Proceedings of the 2012 ACMannual conference on human factors in computing systems, pp 483–492. doi:10.1145/2207676.2207743
Schlaak HF et al (2008) A novel laparoscopic instrument with multiple degrees of freedom and intuitive control. In: 4th European conference of the international federation for medical and biological engineering, Antwerpen. doi:10.1007/978-3-540-89208-3_394
Shah A et al (2010) How to build an inexpensive 5-DOF haptic device using two novint falcons. In: Kappers AML, Bergmann-Tiest WM, van der Helm FC (eds) Haptics: generating and perceiving tangible sensations, LNCS 6191. Proceedings of the eurohaptics conference, Amsterdam, NL. Springer, Heidelberg, pp 136–143. doi:10.1007/978-3-642-14064-8_21
Shimoga K (1993) A survey of perceptual feedback issues in dexterous telemanipulation part I. Finger force feedback. In: Proceedings of the IEEE virtual reality annual international symposium, Seattle, WA, USA, pp 263–270. doi:10.1109/VRAIS.1993.380770
Shimoga K (1993) A survey of perceptual feedback issues in dexterous telemanipulation part II. Finger touch feedback. In: Proceedings of the IEEE virtual reality annual international symposium, Seattle, WA, USA, pp 271–279. doi:10.1109/VRAIS.1993.380769
Sinclair M, Pahud M, Benko H (2013) Touch mover: actuated 3D touchscreen with haptic feedback. In: Proceedings of the 2013 ACM international conference on interactive tabletops and surfaces. ACM, pp 287–296. doi:10.1145/2512349.2512805
Spence C, Ho C (2008) Tactile and multisensory spatial warning signals for drivers. IEEE Trans Haptics 1:121–129. doi:10.1109/TOH.2008.14
Stevens SS (1975) Psychophysics. In: Stevens G (ed) Piscataway. Transaction Books, USA. ISBN: 978-0887386435
Summers I (ed) (1996) Tactile aids for the hearing impaired. Whurr, London, GB. ISBN 978-1870332170
Sutherland GR et al (2013) The evolution of neuroArm. Neurosurgery 72:A27–A32. doi:10.1227/NEU.0b013e318270da19
Tan H, Rabinowitz W (1996) A new multi-finger tactual display. J Acoust Soc Am 99(4):2477–2500. doi:10.1121/1.415560
Tan H et al (2003) Temporal masking of multidimensional tactual stimuli. J Acoust Soc Am, Part 1116(9):3295–3308. doi:10.1121/1.1623788
Verrillo RT, Gescheider GA (1992) Perception via the sense of touch. In: Summers IR (ed) Tactile aids for the hearing impaired. Whurr, London, pp 1–36. ISBN: 978-1-870332-17-0
Vasarhelyi G et al (2006) Effects of the elastic cover on tactile sensor arrays. Sens Actuators A Phys 132(1):245–251. doi:10.1016/j.sna.2006.01.009
Wagner C, Stylopoulos N, Howe R (2002) The role of force feedback in surgery: analysis of blunt dissection. In: 10th symposium on haptic interfaces for virtual environment and teleoperator systems. doi:10.1109/HAPTIC.2002.998943
Westebring-van der Putten EP et al (2008) Haptics in minimally invasive surgery—a review. Minim Invasive Ther Allied Technol 17(1):3–16. doi:10.1080/13645700701820242
Wilde E et al (2013) Technisch vermitteltes soziales Handeln im Alter-ein Gestaltungsprozess. In: Lebensqualität im Wandel von Demografie und Technik. doi:10.1007/s10278-011-9416-8
Wolf U (2007) Aristoteles’ nikomachische ethik. Wiss. Buchges., Darmstadt
Yang X et al (2007) Hand tele-rehabilitation in haptic virtual environment. In: IEEE international conference on robotics and biomimetics (ROBIO). Sanya C, pp 145–149. doi:10.1109/ROBIO.2007.4522150
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag London
About this chapter
Cite this chapter
Hatzfeld, C., Kern, T.A. (2014). Motivation and Application of Haptic Systems. In: Hatzfeld, C., Kern, T. (eds) Engineering Haptic Devices. Springer Series on Touch and Haptic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-6518-7_1
Download citation
DOI: https://doi.org/10.1007/978-1-4471-6518-7_1
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-6517-0
Online ISBN: 978-1-4471-6518-7
eBook Packages: Computer ScienceComputer Science (R0)