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Reflective Spatial Haptic Interaction Design Approaching a Designerly Understanding of Spatial Haptics
KTH, School of Computer Science and Communication (CSC), Media Technology and Interaction Design, MID.ORCID iD: 0000-0001-8093-5911
2013 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

With a spatial haptic interface device and a suitable haptic rendering algorithm, users can explore and modify virtual geometries in three dimensions with the aid of their haptic (touch) sense. Designers of surgery simulators, anatomy exploration tools and applications that involve assembly of complex objects should consider employing this technology. However, in order to know how the technology behaves as a design material, the designer needs to become well acquainted with its material properties. This presents a significant challenge today, since the haptic devices are presented as black boxes, and implementation of advanced rendering algorithms represent highly specialized and time consuming development activities. In addition, it is difficult to imagine what an interface will feel like until it has been fully implemented, and important design trade-offs such as the virtual object's size and stability gets neglected.

Traditional user-centered design can be interpreted as that the purpose of the field study phase is to generate a set of specifications for an interface, and only solutions that cover these specifications will be considered in the design phase. The designer might miss opportunities to create solutions that uses e.g. lower cost devices since that might require reinterpretation of the overarching goal of the situation with starting point in the technical possibilities, which is unlikely without significant material knowledge. As an example, a surgery simulator designed in this thesis required a high cost haptic device to render adequate forces on the scale of human teeth, but if the design goal is reinterpreted as creating a tool for learning anatomical differences and surgical steps, an application more suitable for the lower cost haptic devices could be crafted. This solution is as much informed by the haptic material "speaking back to" the designer as by field studies.

This licentiate thesis will approach a perspective of spatial haptic interface design that is grounded in contemporary design theory. These theories emphasizes the role of the designer, who is not seen as an objective actor but as someone who has a desire to transform a situation into a preferred one as a service to a client or greater society. It also emphasizes the need for crafting skills in order to innovate, i.e. make designed objects real. Further, it considers aesthetic aspects of a design, which includes the subtle differences in friction as you move the device handle, and overall attractiveness of the device and system.

The thesis will cover a number of design cases which will be related to design theory and reflected upon. Particular focus will be placed on the most common class of haptic devices which can give force feedback in three dimensions and give input in six (position and orientation). Forces will be computed and objects deformed by an volume sampling algorithm which will be discussed. Important design properties such as stiffness, have been identified and exposed as a material for design. A tool for tuning these properties interactively has been developed to assist designers to become acquainted with the spatial haptic material and to craft the material for a particular user experience.

Looking forward, the thesis suggests the future work of making spatial haptic interfaces more design ready, both in software and hardware. This is proposed to be accomplished through development of toolkits for innovation which encapsulate complexities and exposes design parameters. A particular focus will be placed on enabling crafting with the haptic material whose natural limitations should be seen as suggestions rather than hinders for creating valuable solutions.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2013. , vii, 49 p.
Series
Trita-CSC-A, ISSN 1653-5723 ; 2013:08
National Category
Human Computer Interaction
Identifiers
URN: urn:nbn:se:kth:diva-128609OAI: oai:DiVA.org:kth-128609DiVA: diva2:648400
Presentation
2013-09-26, F3, Lindstedtsvägen 26, KTH, Stockholm, 09:10 (English)
Opponent
Supervisors
Note

QC 20130916

Available from: 2013-09-16 Created: 2013-09-16 Last updated: 2013-09-16Bibliographically approved
List of papers
1. Design of Perceptualization Applications in Medicine
Open this publication in new window or tab >>Design of Perceptualization Applications in Medicine
2011 (English)Conference paper (Refereed)
Abstract [en]

We are in this position paper presenting the experiences we have from three medical application projects. A user centered design methodology have been applied in order to ground the design in requirements gathered from field studies of professional medical environments. Methods used have been interviews, user observations in the work context and cooperative evaluations of prototypes. With a particular focus on haptic (touch) feedback, we are exploring how novel medical applications can benefit from feedback to more senses than vision and how needs can berevealed and transformed into effective design.

Keyword
User centered design, perceptualization, haptics, medical
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:kth:diva-59547 (URN)2-s2.0-84890705975 (ScopusID)
Conference
First workshop on Engineering Interactive Computing Systems for Medicine and Health Care (EICS4Med). Pisa, Italy - June 13, 2011
Note

QC 20130916

Available from: 2012-01-11 Created: 2012-01-11 Last updated: 2013-09-16Bibliographically approved
2. Tangible sketching of interactive haptic materials
Open this publication in new window or tab >>Tangible sketching of interactive haptic materials
2012 (English)In: Proceedings of the 6th International Conference on Tangible, Embedded and Embodied Interaction, TEI 2012, Association for Computing Machinery (ACM), 2012, 111-114 p.Conference paper (Refereed)
Abstract [en]

The activity of sketching can be highly beneficial when applied to the design of haptic material interaction. To illustrate this approach we created a design tool with a tangible hardware interface to facilitate the act of haptic material sketching and used this tool to design an anatomy exploration application. We found this approach particularly efficient in designing non-visual properties of haptic materials. The design tool enabled instant tactile perception of changes in material properties combined with the ability to make on the fly adjustments, thus creating a sense of pliability.

Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2012
Keyword
Design, Haptics, Interaction Design, Sketching, Tangible Interfaces, Design tool, Hardware interfaces, Material interactions, Material property, On the flies, Tactile perception, Haptic interfaces, Interactive computer systems, Interfaces (materials)
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:kth:diva-99658 (URN)10.1145/2148131.2148156 (DOI)2-s2.0-84859027105 (ScopusID)9781450311748 (ISBN)
Conference
6th International Conference on Tangible, Embedded and Embodied Interaction, TEI 2012; Kingston, ON; 19 February 2012 through 22 February 2012
Note
QC 20120801Available from: 2012-08-01 Created: 2012-08-01 Last updated: 2016-03-09Bibliographically approved
3. Three Themes of User Experiencein Haptic Application Design
Open this publication in new window or tab >>Three Themes of User Experiencein Haptic Application Design
2012 (English)Manuscript (preprint) (Other academic)
Abstract [en]

User experience theory have the potential of improvinghaptic design. Reections from applying haptics inmedical applications will be reported and related to theorygrouped by identied themes. The potential of knowledgecreation in light of these themes will be argued for.

Keyword
user experience, interaction aesthetics, design, haptics
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:kth:diva-128603 (URN)
Note

QS 2013

Available from: 2013-09-16 Created: 2013-09-16 Last updated: 2013-09-16Bibliographically approved
4. The effect of haptic degrees of freedom on task performance in virtual surgical environments
Open this publication in new window or tab >>The effect of haptic degrees of freedom on task performance in virtual surgical environments
Show others...
2013 (English)In: Studies in Health Technology and Informatics, ISSN 0926-9630, E-ISSN 1879-8365, Vol. 184, 129-135 p.Article in journal (Refereed) Published
Abstract [en]

Force and touch feedback, or haptics, can play a significant role in the realism of virtual reality surgical simulation. While it is accepted that simulators providing haptic feedback often outperform those that do not, little is known about the degree of haptic fidelity required to achieve simulation objectives. This article evaluates the effect that employing haptic rendering with different degrees of freedom (DOF) has on task performance in a virtual environment. Results show that 6-DOF haptic rendering significantly improves task performance over 3-DOF haptic rendering, even if computed torques are not displayed to the user. No significant difference could be observed between under-actuated (force only) and fully-actuated 6-DOF feedback in two surgically-motivated tasks.

Place, publisher, year, edition, pages
IOS Press, 2013
Keyword
surgical simulation, haptics, haptic rendering, task performance
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:kth:diva-128604 (URN)10.3233/978-1-61499-209-7-129 (DOI)23400144 (PubMedID)2-s2.0-84879517273 (ScopusID)
Note

QC 20130916

Available from: 2013-09-16 Created: 2013-09-16 Last updated: 2016-03-09Bibliographically approved
5. Design and implementation of a maxillofacial surgery rehearsal environment with haptic interaction for bone fragment and plate alignment
Open this publication in new window or tab >>Design and implementation of a maxillofacial surgery rehearsal environment with haptic interaction for bone fragment and plate alignment
Show others...
2012 (English)In: Proceedings of Computer Assisted Radiology and Surgery, 2012, Vol. 184Conference paper, Poster (Refereed)
Keyword
surgical simulation, haptics, haptic rendering, task performance
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:kth:diva-128605 (URN)
Conference
Computer Assisted Radiology and Surgery, 2012
Note

QC 20130916

Available from: 2013-09-16 Created: 2013-09-16 Last updated: 2013-09-16Bibliographically approved

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