Download Software Modules

th
6
HAPTEX Meeting
PERCRO
Discussion:
Specifications of the main Software Modules
for each DL
Tampere, February 16th – 17th 2006
PERCRO
Scuola Superiore S. Anna
1
Final Architecture
Small Scale Fabric
Properties Database
Large Scale Fabric
Properties Database
Local Geometry
Force Distribution &
Relative Velocity
Tactile
Renderer
TFD
Deformed
Geometry
Force
Resultant
FFD
Small Scale Model
Large Scale Model
Force on the Boundary
of Local Geometry
Fingers Position &
Orientation
Fingers
Geometry
Fabric Geometry
Scenario
Viewer
Finger dimensions &
Mech Properties
Database
Screen
PERCRO
Scuola Superiore S. Anna
2
WHI Development Approach
Intermediate steps having increasing complexity 5 Development Levels (DL)
WHI DL 2
WHI DL 1
Jun.06
May 06
Feb.06
Feb.06
Scenario 1
The fabric hangs from a stand, fixed at
its upper edge. The user can rub and
stretch it. The user can experience only
force feedback.
WHI DL 3
WHI DL 4
Oct.06
Apr.07
WHI DL 5
Aug.07
Nov.06
Jul.06
Scenario 2
May 07
Scenario 3
The fabric is fixed to a rigid flat
The fabric hangs from a stand, fixed at
support. The user can rub it. The
its upper edge. The user can rub and
user can experience only tactile stretch it. The user can experience both
feedback.
force and tactile feedback.
PERCRO
Scuola Superiore S. Anna
3
Integration Level “0”
Reference Scenario 1
WHI configuration
FFD: Grounded Device (Configuration A)
TA: Not Present
User/fabric Interaction:
• Reference Scenario: SCENARIO 1
• Feedbacks: Visual and Kinesthetic (NO Tactile)
• Possible Actions: Rub and Stretch using TWO
fingers
PERCRO
Scuola Superiore S. Anna
4
Integration Level “0”
L
A
R
G
E
S
C
A
L
E
M
O
D
E
L
Large Scale Fabric
Properties Database
Finger dimensions &
Mech Properties
Database
Local Geometry
IN
OUT
Force
Resultant
FFD
OUT
Small Scale Model
Force on the Boundary
of Local Geometry
Scenario
Viewer
IN
Fingers Position
Screen
PERCRO
Scuola Superiore S. Anna
5
Integration Level 1
WHI configuration
Reference Scenario 1
FFD: Two Grounded Device (Configuration A)
TA: Not Present
Force Transmission through plates
• Sensorization of the Orientation of the finger
• Force Sensor to compensate the Inertia
User/fabric Interaction:
•Reference Scenario: SCENARIO 1
• Feedbacks: Visual and Kinesthetic (NO Tactile)
• Possible Actions:
Rub and Stretch using TWO fingers.
PERCRO
Scuola Superiore S. Anna
6
Integration Level 1
L
A
R
G
E
S
C
A
L
E
M
O
D
E
L
Large Scale Fabric
Properties Database
Finger dimensions &
Mech Properties
Database
Local Geometry
IN
OUT
Force
Resultant
FFD
OUT
Small Scale Model
Force on the Boundary
of Local Geometry
Scenario
Viewer
IN
Fingers Position&
ORIENTATION
Screen
PERCRO
Scuola Superiore S. Anna
7
Integration Level 2
WHI configuration
FFD: Not Present
TA: Palmar Configuration (A) integrated on
an ordinary Mouse
Reference Scenario 2
User/fabric Interaction:
• Reference Scenario: SCENARIO 2
• Feedbacks: Visual and Tactile (NO Kinesthetic)
• Possible Actions:
Stroking a piece of fabric lying on a plane using
ONE finger
PERCRO
Scuola Superiore S. Anna
8
Integration Level 2
Large Scale Fabric
Properties Database
Small Scale Fabric
Properties Database
Mouse
Fingers
Position
Position and
Velocities
IN
OUT
Tactile
Renderer
TFD
Planar Model of The
Fabric
Scenario
Viewer
Screen
Finger dimensions &
Mech Properties
Database
PERCRO
Scuola Superiore S. Anna
9
Integration Level 3
WHI configuration
Reference Scenario 2
FFD: One Grounded Device
TA: Palmar Configuration (A)
User/fabric Interaction:
• Reference Scenario: SCENARIO 2
• Feedbacks: Visual, Tactile and Kinesthetic
•Possible Actions:
Stroking a piece of fabric lying on a plane using ONE
finger.
PERCRO
Scuola Superiore S. Anna
10
Integration Level 3
Large Scale Fabric
Properties Database
Small Scale Fabric
Properties Database
Tactile
Renderer
TFD
Force Distribution &
Relative Velocity
Finger dimensions &
Mech Properties
Database
OUT
OUT
Force
Resultant
FFD
Planar Model of The
Fabric
Fingers Position
& Orientation
IN
Fingers
Geometry
Scenario
Viewer
PERCRO
Screen
Scuola Superiore S. Anna
11
Integration Level 4
WHI configuration
Reference Scenario 3
FFD: Two Grounded Device
TA: Dorsal Configuration (A)
User/fabric Interaction:
• Reference Scenario: SCENARIO 3
• Feedbacks: Visual, Kinesthetic and Tactile
• Possible Actions:
Rub and Stretch using TWO fingers
PERCRO
Scuola Superiore S. Anna
12
Integration Level 5
Reference Scenario 3
WHI configuration
FFD: Portable Device
TA: Dorsal Configuration (A)
User/fabric Interaction:
• Reference Scenario: SCENARIO 3
• Feedbacks: Visual, Kinesthetic and Tactile
• Possible Actions:
Rub and Stretch using TWO fingers
PERCRO
Scuola Superiore S. Anna
13
Integration Level 4-5
Small Scale Fabric
Properties Database
Large Scale Fabric
Properties Database
Local Geometry
Force Distribution &
Relative Velocity
Tactile
Renderer
TFD
Deformed
Geometry
Force
Resultant
FFD
Small Scale Model
Large Scale Model
Force on the Boundary
of Local Geometry
Fingers Position &
Orientation
Fingers
Geometry
Fabric Geometry
Scenario
Viewer
Finger dimensions &
Mech Properties
Database
Screen
PERCRO
Scuola Superiore S. Anna
14