Haptics Course Information

Haptic Systems for Teleoperation and Virtual Reality
ME/CS 530.651

Course Information

[General Information] [Course Information] [Course Objectives] [Course Requirements] [Grading Policy]

General Information

Lecture Hours:	MTW 11:00 am - 11:50 am
Lecture Room:	Latrobe 107
Lab Room:	140 Wyman Park Building. Bring your J-Card for entrance to the building and lab.
Instructor:	Prof. Allison M. Okamura
Office:	125 Latrobe Hall
Phone:	410-516-7266
Email:	aokamura@jhu.edu
Office Hours:	Mondays 1-4 pm (in Latrobe 125 or Wyman Park 140)
Course Text:	Weekly readings
Course Web Site:	http://www.me.jhu.edu/~allisono/courses/530.651/

Course Information

530.651 (E) Haptic Systems for Teleoperation and Virtual Reality

Graduate-level introduction to the field of haptics, focusing on teleoperated and virtual environments that are displayed through the sense of touch. Topics covered include human haptic sensing and control, design of haptic interfaces (tactile and force), haptics for teleoperation, haptic rendering and modeling of virtual environments, control and stability issues, and medical applications such as tele-surgery and surgical simulation. Course work includes homework, programming assignments, reading and discussion of research papers, presentations, and a final project. Appropriate for students in any engineering discipline with interests in robotics, virtual reality, or computer-integrated surgical systems. Undergraduates admitted with consent of the instructor.

Okamura, 3 credits, alternate falls

Course Objectives

A student who successfully completes this course should be able to:

Identify the primary mechanisms of human haptic sensing
List and understand a number of methods for sensing the position of and actuating haptic interfaces
Describe the differences between grounded and ungrounded force feedback
Identify the salient features of a haptic device design
List a a variety of different types of haptic interfaces
Haptically render a rigid surface
Haptically render several different surface properties
Know how to model a deformable surface
Create a simple dynamic haptic virtual environment
Describe and implement basic telemanipulation controllers
Understand the causes of instability in virtual reality and teleoperation systems
Design a psychophysical or perceptual test
Describe a number of applications of haptic feedback
Read, evaluate, and critique research papers
Identify a well posed research question and investigate it
Design and deliver a research presentation
Write a scholarly research paper

Course Requirements

30%	Homework/Labs	There will be regular homework/lab assignments
15%	Class Participation	Students must keep up with readings and actively participate in class discussions
40%	Project	There will be one team-based semester project, culminating in a final report and a haptics "open-house" where the project will be demonstrated. Progress and check points before the final due date will count toward the final grade.
15%	Presentation	The presentation is a detailed lecture on a topic related to haptics, done individually. The lecturer also prepares a short discussion or group activity for after the talk.

Grading Policy

Your course grade is determined from the total points you receive from homework assignments, course project, presentations, and class participation.
Homework assignments are due at the beginning of class. You have two free late days to be used at any time in the course, except on presentations and projects. After that, no late assignments will be accepted.
You are responsible for all information given in class verbally and/or in writing. Any information about the course on the web may be replaced by the information given in class.
Cooperative efforts at understanding the material and the assignments of the course are encouraged. However, you are required to submit only work that you have completed individually (except for the team project). Submitting any work that is not the result of a student's own effort is considered cheating.

aokamura@jhu.edu