Haptic Systems
CMPUT 605

Syllabus

This is a tentative syllabus, and is subject to changes. Linked files will be posted as they become available.

Week

Class Dates

Material

Lecture Notes

Assignments

1

September 19

Introduction to haptics, human haptic sensing, psychophysics (readings)

Lecture 2
Lecture 3

Assignment 1

2

September  26

 

Haptic interfaces: sensing and actuation,
grounded and ungrounded force feedback, tactile displays (readings)

Lecture 4
Lecture 5
Lecture 6

Assignment 2

3

October 3

Haptics project case study (Robert Webster)
Human subjects experiments and statistics (Panadda "Nim" Marayong)

Lecture 7
Lecture 8
Lecture 9

Assignment 3

4

October 10

Project discussion
Haptic interfaces: modeling and control, impedance vs. admittance devices
Paper discussion

Lecture 10
Lecture 11

Project proposal due October 2nd

5

October 17

Haptic rendering: rigid surfaces (readings)
Introduction to the Phantom Omni (in lab)

Extra Course Notes

Lecture 12
Lecture 13

VRHaptics

Assignment 4
project checkpoint 1

6

October 24

Haptic rendering: surface properties, reality-based modeling
Paper discussion

Lecture 14

OpenHaptics-Toolkit

Assignment 5

7

October 31

Haptic rendering: dynamic simulation and graphics with OpenGL
Paper discussion

Lecture 15
Lecture 16

Assignment 6

8

November 7

Haptic rendering: deformable surfaces and tissue modeling
Project discussion

Lectures 17 and 18

project checkpoint 2

9

November 14

Teleoperation: basic implementation
Paper discussion

Lecture 19
Lecture 20

 

10

November 21

Teleoperation: controls analysis
Paper discussion

Lecture 21
Lecture 22

Assignment 7

11

November 28

Student Presentation

 

 

13

December 12

Final Project Demonstrations

 

 

14

December 19

Project report due by 4:30 pm by e-mail.

 

Project report due