ENGR0011 1060
Group L14
WHY WE NEED TO DEVELOP HAPTIC SYSTEM VIRTUAL REALITY
Alex Spowart (ats42@pitt.edu)
INTRODUCTION: HAPTIC FEEDBACK
AND VIRTUAL REALITY IN INDUSTRY
The 100 year old assembly process, first developed and
used by Henry Ford, is now an incredibly complex and
technical system used to create products all around the
world. However, a technology currently in development can
revolutionize the way things are produced. This technology
is called virtual reality, and more specifically, the haptic
feedback and involvement within virtual reality. So what is
virtual reality, and what does haptic involvement and
feedback mean? Generally, virtual reality, or a virtual
environment, is a computer designed environment that is
intended to give users the impression of being in or using a
real life object or space [1]. Haptic involvement deals with
the sense of touch in the virtual environment [2]. But how
can the assembly process benefit from this technology?
Well, the ability to touch and interact with virtual objects
would be an invaluable tool to design, produce, and lower
the cost of a various amount of products. A haptic interface
can help designers “feel” the geometry of an object before
ever needing to implement it [3]. As a future electrical
engineer, this topic is particularly interesting to me. The
thought of creating electronics that combine the computer
world with the real world is an amazing concept. By
creating devices to create a sense of touch in a virtual
environment, production times can decrease, lowering
product costs, and thus they would affect the general public.
However, because of the far reaching effects of this
technology, ethics in engineering need to be kept in mind. A
code of ethics must be followed by engineers, and by
following this code, engineers can properly design and
implement the virtual assembly technology into industry.
Moreover, I would like to address the benefits of an
assignment such as this in my engineering education. So, if
done correctly, the abilities of haptic systems are far beyond
those of the current method of design and production, and
the benefits of haptic systems in virtual reality justify the
further research and development of these systems.
VIRTUAL REALITY, HAPTIC SYSTEMS,
AND INDUSTRY
Modern day virtual reality consists of computer modeling
and simulation, alongside of numerous other devices, to
represent a physical environment without that environment
actually existing [2]. However, it is not just representing an
environment that virtual reality aims to achieve; it intends to
create a fully functioning and interactive virtual environment
University of Pittsburgh, Swanson School of Engineering 1
October 29, 2012
which can seamlessly operate like a physical counterpart [2].
Being able to “physically” see, hear, and touch, as well as
smell and taste an object or a space designed on a computer
is the goal of this technology. Today, virtual reality can
often achieve pieces of this ultimate goal, but we are far
from combining all of the senses in a realistic manner.
Typically, telepresence, or the illusion of being in the
environment, can be achieved through devices such as
headsets, gloves, screens, or mechanical devices [2]. In
recent studies, a higher level of immersion, or how
convinced a user is of the “reality” of the virtual
environment, can be achieved with the implementation of a
haptic system [3]. This immersion is a good thing, it is the
goal of these systems after all, but there is a line that
engineers need to keep in mind while developing this
technology. As will be later explained, according to the
National Society of Professional Engineers, the safety of the
public must be held paramount [4]. If immersion becomes
so realistic that people cannot tell what their real reality is,
many different psychological problems could come into
play. So, engineers must come up with a way to balance the
realism of the virtual reality to make sure a distinction can
still be made. So, what is a haptic system? A haptic system
in the context of virtual reality simply refers to the touch
feedback of the environment [2]. It can be a machine that a
user is attached to, or it could be a circuit that sends
impulses to the brain. The haptic system creates a “feeling”
for the user while being immersed in the virtual environment
[2]. Three interesting haptic devices are those of “Smart
Fingers,” HIRO III, and an unnamed experimental device.
Smart Fingers, a product of the University of Illinois, are the
beginning of a very promising future in haptic feedback
systems. A thin small electronic circuit can be attached to
the epidermal layer very much like a temporary tattoo, and
can then send electrical impulses to the skin, resulting in a
slight tingling sensation [5].
This technology could
eventually allow more complex signals to be sent to the
brain, which according to ScienceNOW could potentially
create sensations of texture and heat [5]. Another example
of an advanced haptic system is the HIRO III. HIRO III is a
machine that reflects an object’s weight and contour [6]. A
user of this haptic system can look at a screen with a
computer-aided design (CAD) model object, and with a hand
attached to HIRO III can begin to manipulate the object
while HIRO III spins and rotates to maintain the virtual
object’s “shape” and “weight” [6]. Another similar haptic
device was developed at the University of Siena and the
Italian Institute of Technology in Genova [7]. This device
consists of small motors that move a Velcro strap and belt on
each finger [7]. The motor motion pulls the belt to simulate
Alex Spowart
a force, and the compilation of the motors on each finger can
represent an object’s weight and can simulate the grip force
needed to hold the object [7]. All three of these devices are
the first steps to “feeling” an object in a virtual environment.
One interesting application of haptic feedback in a virtual
environment is that of virtual assembly. Virtual assembly
deals with the application of virtual reality in an assembly
system in industry [3]. Instead of physically carrying out
different steps of the design and assembly process, a virtual
reality and haptic system, such as those mentioned above,
could be introduced [3]. The problem now is how to design,
pay for, and implement these systems into assembly and
industry, while paying attention to engineering ethics. Many
researchers are beginning to tackle this problem through
many new technologies. These new technologies have been
worked on at universities, especially those such as the
University of Illinois [5], Porto University in Portugal [3],
the University of Siena, and the Italian Institute of
Technology, both in Italy [7]. There have also been many
technologies developed in Japan from Gifu University [6].
These technologies are important to industry for a variety of
reasons. Benefits of introducing virtual reality into industry
include “little/no risk, safe, controlled area, realistic
scenarios, can be done remotely saving time and money…
[and] innovative and enjoyable” [8]. These benefits also
nicely coincide with a lot of the codes of ethics that
engineers must follow while designing the technology.
Industry can benefit from a virtual reality and haptic
feedback system, such as “Smart Fingers” or HIRO III, by
saving the assembly and design process time and money,
and this justifies the further development of this technology.
Additionally, the ways in which virtual assembly and virtual
reality systems are designed coincide easily with the codes
of ethics that engineers must follow. Furthermore, the open
creativity that virtual reality offers is what excites me as a
future electrical engineer.
one another [3]. Therefore, the objects interact identically to
potential physical counterparts, and the immersion seems
real. This is important because a product can be entirely
designed, assembled, and then manually manipulated, all
before an actual product ever exists. Imagine designing
thousands of car parts on the computer, assembling it
virtually via a haptic system, and then being able to feel how
comfortable the steering wheel feels in a driver’s hands or
how far away the radio buttons are in the virtual
environment, also via a haptic system, without the car ever
existing. The benefits of manipulating an object in a virtual
environment are nearly limitless. Why are these devices a
preferred method to what is currently used today? Well,
workers on an assembly line could receive training to
assemble a product, without ever needing to touch the
product [3]. The typical cliché that practice makes perfect is
often true, and on an assembly line, practice and experience
are especially needed. A haptic system could provide this
training. Designers also have everything to gain from these
systems. With a haptic system, the assembly process can be
shortened [3]. In an experiment conducted by the Porto
University, combining physics based and geometry based 3D model rendering through the use of a virtual reality haptic
system, there was a significant time improvement, on
average about 20 seconds, from a traditional CAD assembly
to the suggested virtual reality haptic system assembly [3].
The CAD assembly is currently how manufacturers
assemble parts in a virtual environment. The user must
define certain planes to constrain one object to another, an
often difficult task. The suggested haptic system included a
“physical” way to manipulate the objects in a realistic
manner. In the experiment, the difference between the
current traditional method of assembly via CAD, which on
average took 29.8 seconds to complete, and the haptic
system method, which took on average 9.4 seconds, was
roughly 20 seconds [3]. That is nearly a 70% increase in
speed [3]. So, the implementation of a haptic system in a
modern day virtual assembly process could be vital. The
traditional method of creating mockups and prototypes
alongside of a CAD assembly could potentially be expedited
by nearly 70%. Again in the case of vehicle manufacture,
the typical time it takes to design a car is roughly three years
[9]. With the implantation of a haptic based virtual reality
system, and based on the amount of time CAD is used in the
design process, roughly six months could be saved. So why
does this matter to the average person? Well, in the case of
the automobile industry, prices would be lower, as there
would be less time spent on the design of the car, but in the
whole realm of manufacture, product development and
assembly times would decrease, resulting in lower prices for
the consumers. Because this technology has the potential to
affect millions, the code of ethics must be closely followed.
Even though those millions may not be using the technology
directly, if those that are using it are adversely affected by
the technology, then a company will have wasted their
money, as well as potentially ruining their products. Then,
WHAT IS THIS TECHNOLOGY AND WHO
CARES?
What is this virtual assembly? Why does anyone care?
What does it have to do with industry? And how does it
actually work? Well, virtual assembly is, simply put, the
application of virtual reality in the assembly process [3].
What is actually occurring during this process is quite
complex. The process begins with a CAD program [3]. A
designer will create an object or objects in one of these
programs, and then, through the use of some sort of haptic
feedback and virtual reality system, the designer would be
able to manipulate the objects in a virtual environment [3].
Through this manipulation using a haptic system, a designer
can “feel” how the objects fit together and what their
geometries feel like [3]. With different physics and
geometry based formulas, one object can be fit with another
in a virtual environment without the two objects penetrating
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Alex Spowart
in this case, safety could decline from bad virtual assembly,
and prices would increase. Because of this, engineers must
follow the code of ethics so as to prevent any harmful effects
from this technology that would affect the public. Even still,
the advantages that implementing a haptic virtual reality
system provides outweigh the current system of assembly,
which involves hours of assembly line training and
designing. The possibilities with haptic virtual reality
systems are far beyond the capabilities of the modern
method. For these reasons, further effort needs to be put into
the development of haptic virtual reality systems.
there are many different codes of ethics that apply. The
canons that apply to virtual reality, as well as virtual
assembly, are to “hold paramount the safety, health, and
welfare of the public”, “to issue public statements only in an
objective and truthful manner”, and “to conduct themselves
honorably, responsibly, ethically, and lawfully so as to
enhance the honor, reputation, and usefulness of the
profession” [4]. Additionally, the professional obligations
are that “engineers shall be guided in all their relations by
the highest standards of honesty and integrity, that engineers
shall at all times strive to serve the public interest, and that
engineers shall avoid all conduct or practices that deceives
the public” [4]. So, how do these apply to virtual reality and
virtual assembly? These three fundamental canons tie into
each other because virtual reality devices can harm people.
A common side effect of virtual reality systems is that of
cybersickness [10]. Cybersickness is an experience where a
user experiences disorientation, queasiness, nausea, and
headaches [10]. This is a problem with product design,
because engineers must follow the code of ethics that says
that the health of the public must be held paramount [4].
Also, according to the Institute of Electrical and Electronics
Engineers (IEEE), engineers must “accept responsibility in
making decisions consistent with the safety, health, and
welfare of the public and to disclose promptly the factors
that might endanger the public or environment” [11].
Therefore, if virtual reality systems, including virtual
assembly, were to be commonly applied in industry, or even
for personal use, engineers must warn of the possible effects
of cybersickness. Furthermore, according to the IEEE code
of ethics, there must be improvement of the understanding of
technology and its appropriate and potential consequences
[11]. So by the IEEE code of ethics, engineers must take a
look at how humans physically and psychologically react to
virtual reality. And they have; in one test, it was determined
that cybersickness looks a lot like anxiety based on symptom
comparison [12]. This correlation is often brought upon by
potentially anxiety inducing events during the virtual reality
experience [12]. Thus to follow the code of ethics set up by
the NSPE and IEEE, engineers must warn users of the
possible consequences of using this product. This is
especially valuable, because if virtual assembly was to be
implemented in a “practice assembly line,” the workers
would have to know that cybersickness could occur. The
engineers would be able to set up instructions for the proper
use of the product so as to avoid cybersickness as much as
possible.
Thus, a minimum number of negative
consequences would occur, and this would maximize the
usefulness of the product in industry.
Because the
usefulness would be maximized, there would be fewer
mistakes in the work, and safer products would be created.
Because virtual reality and virtual assembly have such a far
reaching spectrum of whom it can affect, it is absolutely
essential for engineers to follow the code of conduct
established by the professional engineering societies. By
following the code of ethics established by NSPE and IEEE,
WHY DO I CARE?
Now why does this issue of implementing virtual reality
haptic systems in industry matter to me? Essentially, I like
to be on the forefront of technology. As a future electrical
engineer, I will always be involved with the new
technological gadget, and the thought of creating a device so
that a virtual object can be “felt” seems like it comes straight
from science fiction. Yet, researchers are making it more
possible every day. I like the thought of creating something
that to most people does not seem possible. Additionally,
this technology can be used in nearly any type of industry.
The wide variety of applications that this haptic system
technology can be applied to is also what makes it super
interesting. Because of the far-reaching effects of this
technology, I know that this technology, as well as
technology that I will be a part of in the future, must closely
adhere to the professionally established codes of ethics. By
following these, I know that I can properly involve myself in
the engineering field, just like those researchers currently
working on virtual assembly technologies. I am interested in
this technology because it seems so far-fetched, but yet it
can be used daily to affect the lives of millions of
consumers. The idea of reaching out to the general public
through my work is what strongly draws me to the field of
engineering, and this is also what draws me to this topic. I
find this new technology to be significant in industry
because it can have such a far reaching impact. The amount
of time and money it can save is, as shown before, quite
significant. For these reasons, the implementation of haptic
system virtual reality in industry is particularly important to
me.
HOW ETHICS IN ENGINEERING APPLY
As with all new developing technologies, there are
always questions as to how the product can avoid being
unethical. For this reason, engineers follow multiple codes
of ethics for their work. The primary code of ethics in
engineering is provided through the National Society of
Professional Engineers (NSPE).
There are multiple
fundamental canons and different rules of practice, as well
as professional obligations. With respect to virtual reality,
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Alex Spowart
engineers working on these virtual assembly systems would
be able to develop a product that is truly beneficial to
industry, and therefore to the general public.
As
aforementioned, virtual assembly can be an extremely
helpful tool in industry, and combined with the proper use of
the codes of ethics, a safe and effective product could be
created.
Haptic system virtual reality is the next big step in industry
that affects industry as a whole, in addition to the assembly
line. Through the time that it can save, along with the
money it can save, the further development of these systems
is indeed necessary. A virtual reality haptic system can
change how products are designed and produced, in a
beneficial way that can save millions of dollars in the auto
industry alone. Combine this with all the various industries
that can benefit from this technology and it is easy to see the
savings. It can also expedite the design and assembly
process. It is easy to see why the further research and
development of these systems is important. The time and
money that companies can save then affect the population as
a whole with lower prices and greater quality. As a future
electrical engineer, seeing this technology come to life
would be especially intriguing. In addition to the benefits of
virtual assembly, this new technology also needs to be
implemented according to the professional engineering
codes of ethics. By coinciding with the idea that the public
safety must be held paramount, haptic systems can be easily
and safely applied to industry. By following these codes,
engineers can properly put this great new technology to good
use. Additionally, the value of this paper in my education
has been shown to be quite large. In conclusion, haptic
systems in virtual reality are interesting technologies that
need more development and research, so that they can be
implemented into industry worldwide.
WHAT IS THE VALUE IN THIS PROJECT
As a future engineer, my college education is of the
utmost importance, and this starts with the freshman
engineering curriculum.
The Accreditation Board for
Engineering and Technology (ABET) is an organization that
requires technical programs in universities to follow an
organized list of requirements, so that their graduating
students are prepared for the workforce. Pitt, an ABETaccredited school, provides this kind of education.
According to ABET, students need to be have “an
understanding of professional and ethical responsibility” and
“an ability to communicate effectively” [13]. This project
combines both of those effectively. This assignment is
important to my education because it requires me to research
how engineers conduct themselves professionally and
ethically, and it also requires me to effectively communicate
this to a reader. I need to be able to see that in all ways,
engineering ethics continually correspond with the products
and devices engineers work on every day. Through this
paper, I am able to achieve this kind of knowledge.
Additionally, formal objective writing is one of the most
important forms of communication.
By the writing
assignments given to us in our engineering analysis class, we
students are asked to develop our communication skills
through this formal writing.
So, by researching an
interesting engineering topic and writing from a subjective
point of view about the implementation of this technology, I
am not only learning an important part of the engineering
process, but I am also learning how to effectively
communicate. Furthermore, this research provides me with
another important aspect of the accreditation requirements.
This is that of a “broad education necessary to understand
the impact of engineering solutions in a global, economic,
environmental, and societal context” [13]. This project
encourages research that looks for the far-reaching effects of
engineering.
So through this paper, I am already
accomplishing many of the requirements for ABETaccreditation. So, I know that this project is indeed
incredibly valuable to me. As a future engineer, the skill to
effectively communicate is essential. So, this project is in
fact vital to my educational preparation for engineering.
REFERENCES
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[2] (2012).
“Virtual Reality (VR).”
Encyclopædia
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[3] P. Xia, A. Lopes, & M. Restivo. (2011). “Design and
Implementation of a Haptic-based Virtual Assembly
System.”
Assembly Automation. (Online Article).
http://www.emeraldinsight.com/journals.htm?articleid=1953
818&show=abstract. p. 369-384
[4] (2007). “NSPE Code of Ethics for Engineers.” Ethics.
(Online
Article).
http://www.nspe.org/Ethics/CodeofEthics/index.html.
[5] R. Boyle. (2012, August 13). “Electronic ‘Smart
Fingertips’ Could Give Robots and Doctors Virtual Touch.”
PopSci.
(Online
Article).
http://www.popsci.com/technology/article/201208/electronic-smart-fingertips-could-give-robots-anddoctors-virtual-touch.
[6] P. Adams. (2010, July 1). “Fingertip-Mounted Haptic
Interface Lets You Feel Virtual 3-D Objects.” PopSci.
(Online
Article).
http://www.popsci.com/technology/article/2010-
TO WRAP IT ALL UP
The age old assembly line, a process that is being
constantly renovated, is ready for another great change.
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07/fingertip-mounted-haptic-interface-lets-you-feel-virtual3-d-objects.
[7] S. Scheggi, G. Salvietti, & D. Prattichizzo. (2010).
“Shape and Weight Rendering for Haptic Augmented
Reality.”
IEEE
Xplore.
(Online
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http://ieeexplore.ieee.org/ielx5/5593942/5598604/05598632.
pdf?tp=&arnumber=5598632&isnumber=5598604.
[8] (2009). “Advantages of Virtual Reality.” Virtual Reality.
(Online Article).
http://www.vrs.org.uk/virtual-realityeducation/advantages.html.
[9] (2012, March 7). “Q&A with Adrian van Hooydonk.”
Car
Body
Design.
(Online
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http://www.carbodydesign.com/2012/03/qa-with-adrian-vanhooydonk/.
[10] J. Van. (1995). “Actual Side Effects From Virtual
Reality.”
Chicago Tribune.
(Online Article).
http://articles.chicagotribune.com/1995-0814/business/9508140011_1_cybersickness-psychologistwith-essex-corp-virtual-reality.
[11] (2012 September). “IEEE Code of Ethics.” IEEE
Policies.
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Article).
http://www.ieee.org/about/corporate/governance/p7-8.html.
[12] Y. Ling, W. Brinkman, H. Nefs, C. Qu, & I.
Heynderickx. “.” Joint Virtual Reality Conference. (Online
Article).
http://www.vtt.fi/inf/pdf/symposiums/2011/S269.pdf#page=
82. p. 80-82.
[13] (2011, October 29). “General Criteria 3. Student
Outcomes.”
Criteria for Accrediting Engineering
Programs,
2012-2013.
(Online
Article).
http://www.abet.org/engineering-criteria-2012-2013/.
ACKNOWLEDGMENTS
I would like to thank Becky Spowart for her guidance in
writing. Additionally, I would like to thank Tom Lizik, Josh
Hinnebusch, Daniel Wright, Andy Cecchi, Nick Brader,
Sarah Foran, and Tatiana Sunseri for their helpful hints,
words of wisdom, and different points of view, that were all
needed in writing this paper.
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