The haptic rendering pipeline illustrates the multidisciplinary aspect of such research.
It also reveals the many pitfalls at all levels that can make users perceive something different than what was intended.
-The software controller must encode information in an appropriate way.
-Information can get lost
-The physical effect resulting from command sent to the electro-mechanical
+Users interact with \fixme{digital} systems with \defword{interaction techniques}, which are combinations of a a device (part of the electro-machanical system) and an interactive language (part of the software controller)~\cite{nigay95}.
+Devices are usually computer peripherals, we presented some of them previously.
+The interactive language is a systematic description of the interactive features of this device.
+Similarly to programming languages, they have three levels: lexical, syntactic and semantic.
+The \emph{lexical level} defines the basic vocabulary of the device.
+For example, we can control vibrations in frequency, amplitude, shape and duration (Figure~\ref{fig:lexical}).
+Hence the command for a vibrotactile actuator is an electrical signal made of these elements.
+%For example the output vocabulary of a 3 degrees-of-freedom (DOF) force-feedback device is a force vector.
+%Hence, a software controller sends three values to the electro-mechanical system, which will convert it to forces.
+%Such devices also have an input vocabulary, typically 3DOF or 6DOF (translations + rotations) and sometimes one or several buttons.
+
+\begin{figure}[htb]
+\begin{tikzpicture}
+ %\draw[loosely dotted] (0,-1) grid (17,1);
+ \draw[x=1mm,y=0.5mm, ultra thick]
+ (0,0) sin (1,10) cos (2,0) sin (3,-10) cos
+ (4,0) sin (5,10) cos (6,0) sin (7,-10) cos
+ (8,0) sin (9,10) cos (10,0) sin (11,-10) cos
+ (12,0);
+ \draw[x=1mm,y=0.5mm, xshift=15mm, ultra thick]
+ (0,0) sin (3,10) cos (6,0) sin (9,-10) cos
+ (12,0) sin (15,10) cos (18,0) sin (21,-10) cos
+ (24,0);
+ \node[x=1mm,y=1mm, anchor=center] () at (20,-13){Frequency};
+
+ \draw[x=1mm,y=0.5mm, xshift=55mm, ultra thick]
+ (0,0) sin (1,10) cos (2,0) sin (3,-10) cos
+ (4,0) sin (5,10) cos (6,0) sin (7,-10) cos
+ (8,0) sin (9,10) cos (10,0) sin (11,-10) cos
+ (12,0);
+ \draw[x=1mm,y=0.5mm, ultra thick]
+ (70,0) sin (71,5) cos (72,0) sin (73,-5) cos (74,0) sin (75,5) cos (76,0) sin (77,-5) cos (78,0) sin (79,5) cos (80,0) sin (81,-5) cos (82,0);
+ \node[x=1mm,y=1mm, anchor=center] () at (68,-13){Amplitude};
+
+ \draw[x=1mm,y=0.5mm, ultra thick]
+ (99,0) sin (100,10) cos (101,0) sin (102,-10) cos (103,0) sin (104,10) cos (105,0) sin (106,-10) cos (107,0);
+ \draw[x=1mm,y=0.5mm, ultra thick]
+ (110,0) sin (111,10) cos (112,0) sin (113,-10) cos (114,0) sin (115,10) cos (116,0) sin (117,-10) cos (118,0) sin (119,10) cos (120,0) sin (121,-10) cos (122,0) sin (123,10) cos (124,0) sin (125,-10) cos (126,0);
+ \node[x=1mm,y=1mm, anchor=center] () at (112,-13){Duration};
+
+ \draw[x=1mm,y=0.5mm, xshift=143mm, ultra thick]
+ (0,0) sin (1,10) cos (2,0) sin (3,-10) cos
+ (4,0) sin (5,10) cos (6,0) sin (7,-10) cos
+ (8,0) sin (9,10) cos (10,0) sin (11,-10) cos
+ (12,0);
+ \draw[x=1mm,y=0.5mm, xshift=158mm, ultra thick]
+ (0,0) -- (0,10) -- (2,10) -- (2,-10) --
+ (4,-10) -- (4,10) -- (6,10) -- (6,-10) --
+ (8,-10) -- (8,10) -- (10,10) -- (10,-10) --
+ (12,-10) -- (12,0);
+ \node[x=1mm,y=1mm, anchor=center] () at (156,-13){Shape};
+\end{tikzpicture}
+\caption{Four parameters of the vibrotactile output vocabulary: frequency, amplitude, duration and shape.}
+\label{fig:lexical}
+\end{figure}
+
+The \emph{syntactic level} combines lexical items to form haptic phrases.
+They eventually combine different modalities.
+%, into higher level representations.
+The figure~\ref{fig:syntactic} shows several examples of such haptic phrases with vibrotactile feedback.
+Frequency and amplitude modulation create new kinds of feedback, that Brown \etal describe as roughness \cite{brewster04}.
+They also use sequences of vibrations to form rhythms.
+%Typically, force-feedback device use force models, as described in the previous section.
+%These are functions that compute forces depending on the device's position.
+%For example, there are force models for springs, magnets, damping or other kinds of forces.
+
+\begin{figure}[htb]
+\begin{tikzpicture}
+ %\draw[loosely dotted] (0,-1) grid (17,1);
+ \draw[x=0.5mm,y=0.5mm, ultra thick]
+ (0,0) sin (5,10) cos (10,0) sin (14,-10) cos
+ (18,0) sin (21,10) cos (24,0) sin (26,-10) cos
+ (28,0) sin (29,10) cos (30,0) sin (31,-10) cos
+ (32,0) sin (33,10) cos (34,0) sin (36,-10) cos
+ (38,0) sin (41,10) cos (44,0) sin (48,-10) cos
+ (52,0) sin (57,10) cos (62,0);
+ \node[x=1mm,y=1mm, anchor=center] () at (18,-13){Frequency modulation};
+
+ \draw[x=1mm,y=0.5mm, xshift=72mm, ultra thick]
+ (0,0) sin (1,5) cos (2,0) sin (3,-5) cos
+ (4,0) sin (5,7) cos (6,0) sin (7,-7) cos
+ (8,0) sin (9,9) cos (10,0) sin (11,-9) cos
+ (12,0) sin (13,10) cos (14,0) sin (15,-10) cos
+ (16,0) sin (17,9) cos (18,0) sin (19,-9) cos
+ (20,0) sin (21,7) cos (22,0) sin (23,-7) cos
+ (24,0) sin (25,5) cos (26,0) sin (27,-5) cos
+ (28,0);
+ \node[x=1mm,y=1mm, anchor=center] () at (85,-13){Amplitude modulation};
+
+ \draw[x=0.5mm,y=0.5mm, xshift=142mm, ultra thick]
+ (0,0) sin (1,10) cos (2,0) sin (3,-10) cos
+ (4,0) sin (5,10) cos (6,0) sin (7,-10) cos
+ (8,0) sin (9,10) cos (10,0) sin (11,-10) cos
+ (12,0) sin (13,10) cos (14,0) sin (15,-10) cos
+ (16,0) sin (17,10) cos (18,0) sin (19,-10) cos
+ (20,0) --
+ (30,0) sin (31,10) cos (32,0) sin (33,-10) cos
+ (34,0) sin (35,10) cos (36,0) sin (37,-10) cos
+ (38,0) --
+ (48,0) sin (49,10) cos (50,0) sin (51,-10) cos
+ (52,0) sin (53,10) cos (54,0) sin (55,-10) cos
+ (56,0);
+ \node[x=1mm,y=1mm, anchor=center] () at (156,-13){Rhythm};
+\end{tikzpicture}
+\caption{Three examples of haptic phrases: frequency modulation, amplitude modulation and rhythm.}
+\label{fig:syntactic}
+\end{figure}
+
+The \emph{semantic level} represents the mapping between the haptic effect and its associated meaning.
+For example if we create Tactons for messaging system alerts, we can encode the caller ID with a rhythm, and the urgency with roughness.
+
+
+One may think that because we are computer scientists, we only have to design and implement interaction techniques.
+Technical and user issues, evaluation…
+
+%The software controller must encode information in an appropriate way.
+%Information can get lost
+%The physical effect resulting from command sent to the electro-mechanical
%The software controller provides users with \defword{modalities}, or \defword{interaction techniques}, which are combinations of a a device (the electro-machanical system) and an interactive language~\cite{nigay95}.
\subsection{Tactile textures}
+ command/effect relation
+ singularity of the effects produced by research prototypes
+
Definition
Tactile Textures~\cite{potier12,potier16}
-
\section{Passive haptics}
% Leverage the physical properties of computer peripherals. Use them as tangibles~\cite{pietrzak17}.
% Actuated peripherals.
\section{Conclusion}
+
+Future work:
+\begin{itemize}
+\item why 1000Hz
+\item Force feedback processor
+\end{itemize}
projects / hdr.git / commitdiff