Advanced Haptic Systems


General Information

Lecture Hours:

Weekly meeting Monday from 16h00 to 17h00

Lecture Room:

ATH 411

Lab Room:

AMMI Laboratory


Prof. Pierre Boulanger


Athabasca Hall 411




Course Text:

Weekly readings

Course Web Site:

Course Information

CMPUT605: Advanced Haptic Systems


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, proxy haptics, 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 with interests in robotics, virtual reality, or computer-integrated surgical systems.

Course Objectives

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

Course Requirements



There will be regular homework assignments



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.



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.

Lecture Notes

Lecture Date




Jan. 21



Haptic Overview

Haptic General Principles

Haptic Perception Tutorial

Jan. 28



Human Haptic


Tactile Perception







Assignment 1


Read and Comment in Class Paper 1 and 2


Read Papers 5 and 6

Read Papers 7 and 8


Due Feb. 4

Feb. 4

Sensors and Actuators



Feb. 11

Setup Haptic Workstation

Assignment 2

Follow the Simulink and Quarc Primer at: Quarc-Matlab-Simulink-Primer.pdf

Due Feb. 25

Feb. 18

No Class Reading Week


Feb. 25

Haptic Rendering


Haptic Control

Haptic Rendering



QuaRC Documentation

Assignment 3

Quanser QuaRC Interface to Omni Phantom

QuaRC and Omni Phantom

Test and Document each demo in the following Quanser Courseware

Mar. 4




Mar. 11



Robotics in Surgery

Haptics: The Present and

Future of Artificial Touch


Mar. 18

Haptic Guidance Systems

Haptic Guidance in Medical Training


Pinzon Thesis

A Review of Simulators with Haptic Devices for Medical Training


A Survey of Visuo-Haptic Simulation in Surgical Training


Shared control of a medical robot with haptic guidance

Mar. 25

Proxy Haptic Systems



Apr. 1

Statistics and Usability Study


Usability Study

 Read Paper 10

Apr. 8

Project Presentations





  1. K. Morrow, D. Wilbern, R. Taghavi, M. Ziat. The Effects of Duration and Frequency on the Perception of Vibrotactile Stimulation on the Neck. IEEE Haptics Symposium, pp. 41-46, 2016. {pdf} (presented by Group 10 -- Cara, Mike, Sophia)
  1. E. Battaglia, J. P. Clark, M. Bianchi, M. G. Catalano, A. Bicchi, and M. K. O'Malley. The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand. IEEE World Haptics Conference, pp. 7-12 , 2017. {pdf} 
  1. F. Chinello, C. Pacchierotti, N. G. Tsagarakis, and D. Prattichizzo. Design of a Wearable Skin Stretch Cutaneous Device for the Upper Limb. IEEE Haptics Symposium, pp. 14-20, 2016. {pdf} 
  1. M. Gabardi, M. Solazzi, D. Leonardis, and A. Frisoli. A New Wearable Fingertip Haptic Interface for the Rendering of Virtual Shapes and Surface Features. IEEE Haptics Symposium, pp. 140-146, 2016. {pdf} 
  1. K. Higashi, S. Okamoto, Y. Yamada, H. Nagano, and M. Konyo. Hardness Perception by Tapping: Effect of Dynamic Stiffness of Objects. IEEE World Haptics Conference, pp. 37-41. 2017. {pdf} 
  1. S. H. Sim, B. Wu, and R. L. Klatzky. Improved typing on a at keyboard via tactile key-identity feedback. IEEE Haptics Symposium, pp. 319-324, 2016. {pdf} 
  1. Y. Gloumakov, T. Feix, I. M. Bullock, and A. M. Dollar. Object Stability during Human Precision Fingertip Manipulation. IEEE Haptics Symposium, pp. 84-91, 2016. {pdf}
  1. A. J. Spiers, and A. M. Dollar. Outdoor Pedestrian Navigation Assistance with a Shape-Changing Haptic Interface and Comparison with a Vibrotactile Device. IEEE Haptics Symposium, pp. 34-40, 2016. {pdf} 
  1. C. J. Ploch, J. H. Bae, C. C. Ploch, W. Ju, and M. R. Cutkosky. Comparing Haptic and Audio Navigation Cues on the Road for Distracted Drivers with a Skin Stretch Steering Wheel. IEEE World Haptics Conference, pp. 448-453, 2017. {pdf} 
  1. A. Teranishi, T. Mulumba, G. Karafotias, J. M. Alja'am, and M. Eid. Effects of Full/Partial Haptic Guidance on Handwriting Skills Development. IEEE World Haptics Conference, pp. 113-118, 2017. {pdf} 



Grading Policy