Providing Haptic Feedback Using TESLASUIT

A Technical Seminar Report Submitted for Approval by Evaluation Committee

BACHELOR OF TECHNOLOGY

In

COMPUTER SCIENCE AND ENGINEERING

By

NASINA KALYAN(18005A0501)
mail-kalyannasina0007@gmail.com

DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING

JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY
ANANTAPUR COLLEGE OF ENGINEERING
(Autonomous)
ANANTAPUR-515002
ANDHRA PRADESH
2020-2021

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 TABLE OF CONTENTS
List of figures

Executive Summary

Chapter-1 Introduction
1.1 Introduction
1.2 History
1.3 Working

Chapter-2 About TESLASUIT

2.1 TeslaSuit
2.2 Block Diagram
2.3 Explanation of Block Diagram

Chapter-3 Observation And Analysis

3.1 Advantages
3.2 Limitations
3.3 Applications

References

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 List of figures

Fig-1 HapticSuit
Fig-2 Aura Interactor (1994)
Fig-3 ARAIG (2013) prototype
Fig-4 Haptika (2015)
Fig-5 Null Space VR Mark 2 Suit
Fig-6 Working
Fig-7 Block Diagram

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 Executive Summary

TESLASUIT is a human-to-digital interface designed in the form of a full-body AR/VR suit.

Three integrated systems include haptics, motion capture, and biometry to provide realistic
immersion . TESLASUIT is compatible with all major game engines and has an open API and
SDK to allow for integration into legacy simulated training environments.

TESLASUIT’s full body haptic feedback system is built into the suit and can be engaged on
actions, on demand, or in response to motion capture comparison. This electro-stimulation
improves the learning experience by increasing immersion, fostering 360- degree awareness and
engaging muscle memory.

Integrated skeletal and 3D kinematic motion capture tracks human body interaction within the
virtual training environment. This capture is essential to the delivery of correctly placed haptic
experiences, and allows for professionals to lay down baselines users can compare against. Using
motion capture in training improves motor skills by enabling haptic guidance and error
augmentation

TESLASUIT’s integrated biometric system gathers real-time data from users while training –
which can be used to relay emotional state, stress level, and key health indicators. This enables
interactive VR/AR training content that adapts to the trainee for personalised experiences, and
measurement of key baselines to understand improvement or degradation over time.

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 CHAPTER -1

INTRODUCTION
1.1 Introduction:

Fig-1 HapticSuit
The Haptic suit is one of the revolutionary wearable devices in the field of virtual reality. It is
also known as haptic vest, tactile suit or gaming suit. It allows the user to completely immerse
yourself into the virtual world and experience it. The motion capture, climate control biometric
and sensory based (haptic or tactile) feedback systems enables the user to dive into the world of
virtual reality.

The virtual reality suit is a wearable device that allows one to dive into a virtual reality
world. Such a suit isolates the human body from the external world.

1.2 History:

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 Fig-2 Aura Interactor (1994)
Aura Systems Inc. was first to launch Interactor Vest Suit in 1994. It has the capability of transforming
audio signals into vibrations using electromagnetic transducers. The bulk of the developments are mo-cap
suits or suits with haptic feedback.
The motion capture suits market is more advanced because of its simple and quick development cycle and
market placing process. Haptic suits are mostly vests and jackets. Usually companies use vibration and
force feedback to transfer senses. Some companies develop full-fledged virtual reality suits consisting of
jackets and trousers. Haptic suits are much more difficult to create, they require a multidisciplinary
interaction of a large number of specialists.

3RD Space Vest (2007)

The vest uses eight "contact points" that simulate body skms, gunfire, or G-forces in race car driving.[7] It
was unique of its kind because the vest is directional unlike traditional force feedback systems, so that the
player could feel outside field of view also.

Tactile Gaming Vest (2010)

It additionally had sensations, such as body blows, punch/kick, and surrounding environment (like-
impacts due to artillery and ammunition, temperature etc). It was designed to increase the immersiveness
of third- and first-person _ shooter games,developed by Saurabh Palan and his team at the University of
Pennsylvania from the Haptics Lab. The vest was able to stimulate blood flow sensations, slashing and
gunshots.

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ARAIG (2013)

On May 31, 2013, a campaign was launched named Kickstarter to raise funds for the ARAIG (As Real As
It Gets) development, a electrical muscle stimulation and force- feedback wearable device mainly for
gaming purposes. Although it failed, as it only raised $126,625 of $900,000which was the goal.

Fig-3 ARAIG (2013) prototype

KOR-FX (2014)

Ths suit used award-winning 4DFX technology which transformed games or media audio into pinpointed
high-definition tactile feedback. It was funded by Kickstarter.

Teslasuit (2015)

It is a full body haptic feedback platform for Virtual Reality and gaming.[10] It’s used to transfer
sensations from the gaming environment to the human body with the help of some electric impulses.
These are controlled by control units usually referred to microcontrollers or mini controllers. It also has
an advanced motion capture system. It mainly considered neuro-muscular stimulation and real time
motion tracking which had an incredible application in medicine, professional sport and ekctro-therapy.

HAPTIKA (2015)

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Fig-4 Haptika (2015)
It is full body wearable feedback haptic gadget with temperature
sensation and motion capturing features.

Rapture (2016)
It’s basically used in virtual reality entertainment centers and based on transducers and vibration motors.
NullSpace VR (Hardlight Suit) (2016)
It was a haptic full upper body feedback suit with gloves. Consists of 32 haptic pads with 117 built-in
haptic effects.

Fig-5 Null Space VR Mark 2 Suit

AxonVR (2016)
This suit was based on haptic points and miniature hydraulic actuators. It is now called HaptX.

bHaptics ctSuit (2017)

It consists of 3 different body wearable-vest (with 40 haptic points), arm (with 20 haptic points) and a
mask.

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Woojer (2017)
It consists of a 3-fold patented transducer (osci). It was the first to have a scalable technology, therefore
can be woven inside a smart fabric and was used for industrial purposes also.

NeoSensory exoskin (2018)

Ths haptic jacket will basically allow the users to touch other avatars, walls, an explosion, raindrops,
gunshots, a hug, and everything else.

1.3 Working:

Fig-6 Working
Our full body haptic suit provides realistic immersive sensations relating to the sense of touch by
applying the simulated forces and electrical pulses to the user. These simulations can be used to feel
virtual objects in the VR/AR environment, control these virtual objects, and enhance the remote control of
the system. Thereby, Teslasuit (explained here) greatly improves the AR/VR experience.

How does haptic feedback work?

● The principle of the sensitisation system of Teslasuit is based on sending a tiny pulse of different
amplitude, frequency, amperage to the electrode.
Teslasuit combines two electrostimulation systems:
1. TENS (Transcutaneous Electrical Neural (or Nerve) Stimulation;
2. EMS (Electrical Muscle Stimulation).
● Both systems stimulate nerve endings, which affect skin surface. In the case of EMS electric
pulses would lead to muscle contractions, yet TENS doesn’t always lead to that as it is a method
that uses milder and less penetrative electrical impulses.

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 ● When a virtual part of the body collides with a virtual object, the commutation unit device
delivers pulses from a pulse generator to the electrodes located in the same area of the wearer’s
real body.
● The electrodes operate on the principle of successive inclusion or E-Cloud Stimulation. It allows
a significant reduction in energy usage. Combining different variations of values and time for
electrode operation creates the simulation of different virtual sensations applied to the physical
world.

● The electrical puke allocation inTesksuit VR gaming suit could be alternating repetition,
alternated boost or fading pulse signal. This is necessary for high-quality simulation of liquid, gas
and fluid environment sense simulation. Wave-like distribution is typical for many physical
phenomena. Implementation of the principle of alternating signal allows simulation as well as
creating special effects.

CHAPTER-2

ABOUT TESLASUIT
2.1 TeslaSuit :

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 The TESLASUIT has 68 haptic points in total.
➔ the vibration spreads widely, to large areas of the body, electrotactile haptic points provide While
sensation to the certain area of the body. A large number of haptic points allows covering almost
the whole body. The higher the density of the points.
➔ Haptic animations
To impose sensations on specific parts of the video haptic animations are used. Together with a
soundtrack and subtitles, they create an overall scene of VR. Pre-designed animations, which
emulate the most popular effects, are stored in a haptic library.
➔ Haptic library
Teslasuit haptic library provides a range of sensations to targeted areas across the body including
simultaneously stimulating multiple muscle groups. The initial library will contain up to 250
basic sensations.
➔ Real-time simulations
Additional sensations that are not available in the Teslasuit haptic library are simulated in real
time. The primary sensation is activated at the same time or with a small delay of secondary
sensation.
➔ Weight simulation
To provide gravity force and modulate mass of the virtual object, an electric pulse is applied to
the group of various muscles. For instance, we have an apple, it has a certain mass. When a user
takes an apple in his hand, the specific muscle groups contract. Consequently, our haptic
feedback suit can artificially stimulate these muscles, emulating the mass of some object.The
latest (at the time of publication) research of Hasso Plattner Institute (Germany) describes in
detail weight simulation by means of electrotactile feedback.

➔ User calibration profiles

Calibration profiles allow Teslasuit haptic feedback to adapt to a specific type of skin. These
profiles are stored in the cloud and then can be applied to another suit.
➔ Capillary system
The artificial capillary system distributes conductive fluid through Teslasuit. It’s necessary for the
improvement of the contact between the skin and haptic points.
➔ Animation Customizing
Users can create custom animations with the Haptic Editor application.

2.2 Block Diagram:

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 Fig-7 Block Diagram
2.3 Explanation of Block Diagram:
Design of Haptic System Haptic interface: Consists of a haptic device and software-based
computer control mechanisms. It enables human-machine communication through the sense of
touch. Actuator: Vibrates the device in a specific pattern. The type of actuator will determine
their solution and quality of the haptic effects.
1. Simulation engine: responsible for computing the virtual environments behavior over
time;
2. Visual auditory, and haptic rendering: compute the virtual environment's graphic, sound,
and force responses toward the user;
3. Transducers: convert visual, audio, and force signals from the computer into a form the
operator can perceive.
4. Sensors: It is responsible for sensing the haptic information exerted by the user on a
certain object and sending these force readings to the haptic rendering module.
5. Haptic rendering: The process of calculating the sense of touch, especially force.
6. Software: The software generates the haptic waveforms and can reside
applications processor, microcontroller, or integrated driver
7. Driver: Part of the electrical design and is the bridge between the controller and the actuator.

CHAPTER-3

OBSERVATION AND ANALYSIS

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3.1 Advantages:
1. Freedom of movement.
2. Flexible.
3. All-in-one solution (many sensors could be fabricated easily).
4. Health monitoring and analysis faster.
5. A large surface (body) for reading out data.
6. analyzes the performance of exercises and sports.
7. forecast possible overload or injury.
8. offers optimal physical activity.
9. Better virtual experience.
10. Self-adjusting temperature.

3.2 LIMITATIONS
1. Cost- Research and production cost is very high.
2. Security- Wireless wearable devices could be hacked.
3. Intrusion- People can be overwhelmed by the huge amount of data and can easily be
panicked by misinterpreting any vital health data.
4. Sensitive signal- Wrong data could be sent.
5. Energy- High energy consumption in some wearables like ultrasonic feedback system.
6. Data acquisition difficult- This includes the acquisition of sensory suite that adequately
captures touch parameters (such as compliance, temperature, skin stretch, etc.) are
Lacking.

3.3 APPLICATIONS
1.used in Space stations.
2.used in the medical field for Robotic Surgery.
3.used in Physical and army training.

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4.used in smart clothing.

REFERENCES
● https://teslasuit. io/blog/
● Deepa Mathew, University of Tampere Department of Computer Sciences Interactive
Technology; Research: Wearable Haptics October 2008

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● Prof. Dr. Marc Van Parys; “Development and Research of Smart Functional Clothing
Textiles" 2013
● MOHAMAD A. EID1 , (Senior Member, IEEE), AND HUSSEIN AL OSMAN, New
York University, Abu Dhabi, Abu Dhabi, UAE 2School of Electrical Engineering and
Computer Science, University of Ottawa, Ottawa, ON KIN 6N5, Canada; “Affective
Haptics: Current Research and Future Directions” 2015
● NURATIQA NATRAH MANSOR, MUHAMMAD HERMAN JAMALUDDIN,
AHMAD ZAKI SHUKOR, 1,2,3 Centre for Robotics and Industrial Automation
(CERIA), Universiti Teknikal Malaysia Melaka, Malaysia; CONCEPT AND
APPLICATION OF VIRTUAL REALITY HAPTIC TECHNOLOGY 2014
● Abdulmotaleb Ei Saddik and team, "Haptic Technologies: Bringing Touch To
Multimedia” 2011

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