Week

Class Dates

Material

Lecture Notes

Assignments

1

M   1/9

Introduction to haptic systems and their applications 

Lecture 1

1

T   1/10

Generating haptic-feedback with a manipulator 

Lecture2

1

W 1/11

Introduction to haptic rendering

Lecture 3

1

Th 1/12

Real-time programming for generating force-feedback

Lecture4

1

F  1/13

Introduction to force-feedback telemanipulation

Lecture 5

2

M 1/16

Holiday

2

T  1/17

Haptic rendering of rigid bodies (collision detection)

Lecture 6

2

W 1/18

Haptic rendering of  rigid bodies (force shading, friction rendering and texture rendering)

Lecture 7

2

Th 1/19

 Haptic assistance: Applications and Design Considerations (guest lecturer Panadda Marayong)

Lecture 8

2

F  1/20

Haptic rendering of deformable bodies

Lecture 9

3

M 1/23

Haptic rendering of deformable bodies (continued)

Lecture 10

3

T  1/24

Stability of haptic systems

Lecture 11

3

W 1/25

Effects of  time-discritization and  position quantization on the stability of haptic systems

Lecture 12

3

Th 1/26

Methods to stabilize haptic interactions with virtual environments

Lecture 13

3

F 1/27

Stability and transparency of  force-feedback  telemanipulation systems

Lecture 14