| Week | Class Dates | Material | Lecture Notes | Assignments |
| 1 | M 9/11 T 9/12 W 9/13 |
Introduction to haptics, human haptic sensing, psychophysics (readings) | Lecture 1 Lecture 2 Lecture 3 |
background assessment ps 1 out (solutions) |
| 2 | M 9/18 T 9/19 W 9/20 |
Haptic interfaces: sensing and actuation, grounded and ungrounded force feedback, tactile displays (readings) |
Lecture 4 Lecture 5 Lecture 6 |
ps 2 out (solutions) |
| 3 | M 9/25 T 9/26 W 9/27 |
Haptics project case study (Robert Webster) Human subjects experiments and statistics (Panadda "Nim" Marayong) |
Lecture 7 Lecture 8 Lecture 9 |
ps 3 out |
| 4 | M 10/2 T 10/3 W 10/4 |
Project discussion Haptic interfaces: modeling and control, impedance vs. admittance devices Paper discussion |
Lecture 10 Lecture 11 |
project proposal due 10/2 |
| 5 | M 10/9 T 10/10 W 10/11 |
Haptic rendering: rigid surfaces (readings) Introduction to the Phantom Omni (in lab) |
Lecture 12 Lecture 13 |
ps 4 out project checkpoint 1 |
| 6 | (no class M 10/16) T 10/17 W 10/18 |
Haptic rendering: surface properties, reality-based modeling Paper discussion |
Lecture 14 | ps 5 out |
| 7 | M 10/23 T 10/24 W 10/25 |
Haptic rendering: dynamic simulation and graphics with OpenGL Paper discussion |
Lecture 15 Lecture 16 |
ps 6 out |
| 8 | M 10/30 T 10/31 W 11/1 |
Haptic rendering: deformable surfaces and tissue modeling Project discussion |
Lectures 17 and 18 | project checkpoint 2 |
| 9 | M 11/6 T 11/7 W 11/8 |
Teleoperation: basic implementation Paper discussion |
Lecture 19 Lecture 20 |
|
| 10 | M 11/13 T 11/14 W 11/15 |
Teleoperation: controls analysis Paper discussion |
Lecture 21 Lecture 22 |
ps 7 out |
| 11 | M 11/20 T 11/21 W 11/22 |
Position-exchange teleoperation with Phantom Omnis (in lab) Student presentations and discussion |
presentation evaluation form project checkpoint 3 |
|
| 12 | M 11/27 T 11/28 (no class W 11/29) |
Student presentations and discussion | ||
| 13 | M 12/4 T 12/5 W 12/6 |
Student presentations and discussion Virtual Reality Systems Course Evaluations |
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| 14 | M 12/11 | Final Project Demonstrations, 11 am - 1 pm in 200 Latrobe | project demonstration (requirements and grading sheet) | |
| M 12/18 | Project report due at Allison's office (125 Latrobe) by 4:30 pm. Please also submit a cd-rom with software/drawings/electronic documents. |
project report due |
Notes:
9/23-30: Allison is out of town -- guest lecturers
10/16: Fall Break Day -- no class
11/29: Allison is away -- no class.