HAPTION

From EuroVR Knowledge Base

Haption logo (c) Haption

A French SME born in 2001, HAPTION develops, manufactures and sells haptic devices and force-feedback systems for professional applications, under the trademark "VIRTUOSE". Our vision of the future is that haptics will become one of the major interaction modalities for all-day work with 3D computer data, and that professional applications call for intelligent 6 degrees-of-freedom force-feedback.

Contents

Technological Background

HAPTION is a spin-off of the French Atomic Energy Commission (CEA), which originally developed the technology behind all HAPTION’s products. For more than 30 years, the CEA has been developing robotic technologies for its own use in its nuclear facilities. The research was always driven by the practical problems faced by the nuclear operators in the fuel production, energy production, and reprocessing plants.

Over the years, the CEA has acquired an expertise in all matters regarding master-slave tele-operation with force-feedback, which is acknowledged by the scientific community worldwide.

In 1998, the CEA decided to start a new activity, based on their know-how in force-feedback, towards Virtual Reality and haptic technologies. A first prototype, the VIRTUOSE 3D, was presented at the MICAD and Laval Virtual shows in 2000. The demonstrations were based on VORTEX, a physical engine derived from Math Engine. CMLabs Simulations has continued to develop Vortex since it evolved from Math Engine in 2001.

Virtuose 3D (c) CEA LIST

HAPTION was founded in September 2001, and was granted an exclusive worldwide license for the exploitation of 7 patents owned by CEA and all its know-how in the domain of force-feedback. In 2003, HAPTION and CEA signed an agreement for common research and development activities, which paves the way to new products and applications.

HAPTION’s technology is characterized by:

  • A solid background coming from robotics research, which means precise mechanics, integrated electronics, and advanced real-time control algorithms.
  • A strong orientation towards industrial turnkey applications and their specific needs:
    • 6-dof force feedback
    • High forces and torques
    • Safety and robustness
    • Modularity of the end-effector
    • Integration with standard software


Today, our technology enables us to propose a portfolio of hardware and software solutions for application-ready force-feedback.

Hardware Products

All products under CEA license.

Haptic device Virtuose 6D35-45

The VIRTUOSE 6D35-45 is a haptic device with a large workspace and force-feedback on all 6 degrees-of-freedom, especially suited to handling of virtual objects at scale 1. It has been designed for virtual assembly/disassembly operations in CAD (Computer Aided Design).

Virtuose 6D35-45 (c) Haption
Workspace in translation Cube 45 cm on the side
Workspace in rotation 145° - 115°- 148°
Maximum force in translation 35 N
Continuous force in translation 10 N
Maximum torque in rotation 3.0 N.m
Continuous force in rotation 1 N.m
Maximum stiffness in translation 2000 N/m
Maximum stiffness in rotation 30 N.m/rad
Weight balancing Static (mechanical)
Number of buttons 3 (1 offset, 2 application-specific)
Trackball Yes
Tool changer Yes
Technical characteristics

Haptic device Virtuose 3D15-25

The product VIRTUOSE 3D15-25 is a compact haptic interface, well adapted to desktop applications. It offers force-feedback on 3 degrees-of-freedom (translations), and position feedback on rotations.

Virtuose 3D15-25 (c) Haption
Workspace in translation Cube 25 cm on the side
Workspace in rotation 195° - 115°- 260°
Maximum force in translation 15 N
Continuous force in translation 5 N
Maximum stiffness in translation 2000 N/m
Weight balancing Dynamic (software)
Number of buttons 2 (1 offset, 1 application-specific)
Trackball No
Tool changer Yes
Technical characteristics

Master arm Virtuose 6D40-40

The master arm VIRTUOSE 6D40-40 is a force-feedback device specially designed for master-slave tele-operation. Its main applications are the nuclear heavy industries. It offers force-feedback on all 6 degrees-of-freedom and on the gripper (gripping direction only).

Virtuose 6D40-40 (c) Haption
Workspace in translation Cube 40 cm on the side
Workspace in rotation 326° - 210°- 510°
Continuous force in translation 30 N
Continuous force in rotation 4 N.m
Weight balancing Static, partial (mechanical)
Number of buttons 6 (1 offset, 5 application-specific)
Trackball No
Tool changer No
Technical characteristics

Haptic device Virtuose 6D Desktop

The VIRTUOSE 6D Desktop is a haptic device with a small volume offering force-feedback on all 6 degrees-of-freedom, especially suited for a desktop environment. It has been designed for virtual assembly/disassembly operations in CAD (Computer Aided Design).

Virtuose 6D Desktop (c) Haption
Maximum volume Ø 300 x 260 mm
Workspace in translation Sphere 120 mm in diameter
Workspace in rotation 35° in the 3 directions at the centre
Maximum force in translation 5 to 15 N
Continuous force in translation 1.4 to 3 N
Maximum torque in rotation 0.2 to 0.5 N.m
Continuous force in rotation 0.06 to 0.14 N.m
Maximum stiffness in translation 2500 N/m
Maximum stiffness in rotation 2 N.m/rad
Weight balancing Dynamic (software)
Number of buttons 3 (1 offset, 2 application-specific)
Trackball No
Tool changer No
Technical characteristics

In order to overcome the physical limits of the workspace and propose a continuous movement in all directions, the Virtuose 6D Desktop implements an innovative interaction technique called "hybrid position/rate control": at the center of the workspace, the device behaves as a normal position-controlled haptic interface, but when it approaches the limits of the workspace it changes to a 6-dof force-feedback rate-controlled joystick.

Haptic device Inca 6D

The INCA 6D is a haptic device with a very large workspace offering force-feedback on all 6 degrees-of-freedom, especially suited for immersive environments. It has been designed for virtual assembly/disassembly operations in CAD (Computer Aided Design).

Inca 6D (c) PSA Peugeot Citroën
Maximum force on transmission cable 37.5 N
Continuous force on transmission cable 12.5 N
Winding length of transmission cable 2.5 m
Force of pre-tension cable 5 N
Winding length of pre-tension cable 1.0 m
Length measurement resolution 7.10-6 m
Dimensions of actuator 0.1 x 0.2 x 0.3 m
Weight of actuator 2.5 kg
Weight balancing Static, partial (mechanical)
Technical characteristics (single actuator)

The Inca 6D cable-driven haptic device is based on the Spidar of Professor Sato.

Software Products

With the ever increase of competition in a globalized market, industrial companies are looking for ways to reduce product design time and costs. The on-going trend is to replace physical prototypes with one single "digital mock-up", defined as the complete set of technical data representing the product under development. In principle, it costs nothing to build, it is always up-to-date, and it is completely traceable. Using advanced simulation techniques, it is possible to carry out aerodynamic analyses, ergonomic studies, crash-tests, market surveys, etc, directly with the digital mock-up. However, some operations are very difficult to validate without a physical interaction. That is typically the case of assembly/disassembly and maintenance.

The role of force-feedback is to recreate the contact information and provide it to the operator directly in his hand. Using it, he can glide and pivot very intuitively, testing different access strategies without bothering about waypoints and trajectories. After he’s found a good solution, he can repeat it while recording all the movements automatically for documentation and later replay. This "hands-on" approach of assembly and maintenance simulation has many additional advantages:

  • It gives more emphasis on the overall access strategy than the detailed movement tactics; therefore, a typical solution can be found, with high gains of productivity and quality.
  • It can be used by individuals not trained for using a CAD system; as a consequence, experienced workers coming from the assembly line can be involved in the design process.
  • It is very demonstrative; as such, it can be used as a means to convince decision-makers that a modification of the geometry is necessary.

In France, active work on the development of interactive solutions for virtual prototyping started with the PERF-RV project, a virtual reality platform marshalling about twenty public and private stakeholders. Significantly, interaction with force-feedback was one of the most successful technology demonstrators produced by the project. After the closing of the platform in 2003, two different initiatives were started, with the objective of developing an industrial solution for assembly and maintenance simulation with force-feedback. The first one, driven by EADS CRC and called SAMIRA, produced an operational tool in 2005, which is now in use at Airbus for the validation of maintenance operations. The second one, driven by CEA-List and called RIVAGE, has just achieved the release of the commercial product IFC Core (Interactive Fitting for Catia V5), sold by Haption.

All products under CEA license.

IFC Core: Interactive Fitting For Catia and Delmia

IFC Core (c) Haption - data courtesy of Renault

"IFC Core" Interactive Fitting for Catia is a software add-on to Catia V5 R17 and Delmia. It enables interactive real-time assembly simulation with force-feedback. Using IFC Core, you reduce the time needed for :

  • Assembly process validation,
  • Disassembly testing,
  • Ergonomic study,
  • Operator Training.

Furthermore, you can benefit from the know-how of expert operators inside the digital mock-up.

IFC Core lets you:

  • Connect to the IPSI server
  • Manage the simulation: start, stop, pause, resume
  • Manage the type of device: with force-feedback Haption Virtuose and Inca and without force-feedback 6D USB mouse from 3D connexion and Optical Tracking from ART
  • Manage the collision process: attach and detach 3D objects to the manipulation device. Also activate or deactivate the collision during a certain time.
  • The dynamic engine is able to run in real-time the collisions detection and the contact simulation.
  • The collision is visible by some red balls in superposition of visualization 3D.
  • Realtime motion using the 6 degrees of freedom input device (6D mouse, ART) and Realtime force feedback in 6 degrees of freedom (haptic device).
  • Indexing all the 6 degrees-of-freedom.
Load 3D objects

IFC integrates a compute program, which creates persistent data needed by the collision detection process. The data can be stored on files for fast reloading of the simulation experience. This tools can physicalize any type of 3D loaded in the viewer of Catia V5 (included Catia V4, CGR, VRML, …) The user can specify the geometric resolution before load or create the physic data. The user can add weight of moving part.

Kinematics Constraint

IFC Core provides kinematic constraints (virtual mechanicals joints) between objects or between one object and the world: Prismatic, plane, translation, hinge, ball-and-socket, etc.

Real-Time Recording Trajectory

IFC Core provides way to record track with the device, store as a DMU track, which can permit to replay. The user can use this track like a virtual guide.

IFC Core (c) Haption - data courtesy of Renault
Insertion of a arm of Manikin in the Simulation

The user can load and manage a manikin coming from the human builder workbench. The manikin can be manipulated by the user. IFC Core manage in real-time the kinematic of the arm, the collisions between the manikin and the environment.

Colocalisation in immersive mode (P3)

In immersive mode, the graphic representation of the manipulated object must be able to be superposed with the grip of the manipulation device (also called prop)

IPSI: Interactive Physics Simulation Interface

IPSI (Interactive Physics Simulation Interface) is a software library for physical simulation with force-feedback developed by Haption in collaboration with CEA-List. IPSI is used in the implementation of IFC Core. IPSI lets you:

  • Distributed architecture (client/server) based on the ONC RPC (open standard)
  • Multi operating system for the client and the server: Microsoft Windows, Linux
  • Scenes composed of rigid bodies
  • Simulation of simple kinematics chains (no closed-loop kinematics)
  • Static integration (no inertial forces)
  • 6-dof force-feedback output
  • Compatibility with all the product line Virtuose and Inca
  • Degraded operation without force feedback for 6D mouse (product line 3DConnexion)
  • Compatibility with optical tracking systems from ART
IPSI Server

The IPSI server integrates software modules for collision detection (LMD++) and for simulation of movement GVM developed by the CEA-List. It also integrates the software library for collision detection VPS (Voxmap PointShell) developed by BOEING/Phantom Works.

IPSI API
C++ library of functions for
  • Connecting to the IPSI server locally or over the network
  • Loading 3D objects into the scene
  • Selecting interaction-enabled objects
  • Creating simple kinematics constraints (prismatic, plane, pivot, etc …) and connecting those to objects in the scene
  • Associating interaction devices to objects in the scene
  • Starting/stopping an interactive simulation
  • Updating the position of objects in the scene for visualization

IPP: Interactive Physics Pack for Virtools

Based on Haption’s physics simulation technology IPSI, IPP is a set of Virtools Building Blocks that allow the user to create and play a real-time 3D application with haptic interaction. IPP is an add-on library for Virtools Dev 3.5 and Virtools 4.0, which includes 18 new building blocks.

IPP (c) Haption - data courtesy of Renault
3D real-time interactive physics Experience

IPP lets you:

  • Connect to the IPSI server
  • Manage the simulation: start, stop, pause, resume
  • Manage the type of device: with force-feedback Haption Virtuose and Inca and without force-feedback 6D USB mouse from 3D connexion and Optical Tracking from ART
  • Manage the collision process: attach and detach 3D objects to the manipulation device.
Load 3D objects

IPP integrates a building block called "physicalize", which creates persistent data needed by the collision detection process. The data can be stored on files for fast reloading of the simulation experience. IPP can physicalize any type of 3D data compatible with Virtools (see Virtools for the type of Data)

Kinematics Constraint

IPP provides kinematic constraints between object or between one object and the world: Prismatic, plane, translation, hinge, ball-and-socket, etc.

Projects and Research

Past/present RV-related research projects Haption is involved in:

People

Jérôme Perret, General Manager

Contact Details

Haption S.A.
Atelier Relais - Route de Laval
53210 SOULGE SUR OUETTE
France
Tel. +33(0)2 43 64 51 20
Fax. +33(0)2 43 64 51 21
http://www.haption.com/