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and drivers within the hosting OS kernel (Windows 2K). The figure 6 shows the main block interconnection scheme. Figure 6: Architecture of the system. Several functional control solutions are available for using the system: a basic mouse replacement toolkit allows making use of the system interface for controlling the pointer position within the screen and for interacting with the GUI; it is also possible to directly control the hardware device by software and/or control CAD; a set of functionalities libraries also implement main features for facilitating integration within application. 5. COMPONENT CHOICE AND CONTROL DESIGN The HDS layout presents the device as a multifunctional desk (as shown in figure 7): the transparent haptic interface being designed using a plastic material with low refraction index can be grasped directly with the finger or manipulated by means of a sensorized pen. The use of the haptic interface, as a bi-directional device, allows users to interact with the computer without any other interfaces: mouse and/or keyboard; this last functionality has been achieved by integrating specific commercial handwriting recognition tools on the operating system. At present the device can display haptic information according to specific control procedures written in a specific environment. It is foreseen to develop a wide set of programming libraries in order to exploit the system capabilities within several office automation application: this enlarges and reinforces the information exchanged between the human and the computer compared with the traditional ways of accessing the computer resources. Several tools can replaced the end effector in order to perform different kinds of task, for example: c The Eurographics Association 2005. Massimo Bergamasco / Future trends and Applications, Education 34 Figure 7: The Haptic Desktop system. Figure 8: Device end-effector is made of transparent plastic material. ¯ Virtual pen tool: a cylindrical part handled by the user like a common pen; ¯ A barrel made of transparent material on which the user can grasp the interface by using his/her finger; ¯ A real pen for writing directly on sheets of paper.
6. EMPLOYMENT OF THE SYSTEM The developed system, besides guaranteeing the complete interaction offered by traditional systems, adds at least three new functionalities: ¯ The possibility of accessing the computer resources by controlling the graphical cursor that is coincident with the interaction point [27] (Fig. 8). By attaching a pen stylus, the writing and designing tasks (Fig. 9) becomes easier than using the conventional input devices (mouse, trackball, etc.). ¯ The possibility of interacting with the software resources of the computer by adding force feedback information to the operator’s imputs. This makes possible the creation of a new kind of interaction with the user so that users can ”touch” buttons, ”feel” and ”move” lines and the haptic device can replace the use of compasses, squares and/or other drawing instruments. This kind of interaction offers the possibility of using the system as a training tool (e.g. eEducation [17]) or as a therapeutic tool (e.g. reducing tremor [31]). Figure 9: An example of how to use the system for designing ¯ The possibility of using the instrument to produce internal/external stimuli while the operator interacts with real elements such as pens, pencils, papers, etc. (Fig. 10). For example, the operator can use the device with his/her own pen and paper for verifying the improvement of the student after a training process programmed on the haptic interface (e.g. technical drawings). 7. ACKNOWLEDGEMENTS The activities described in this work have been carried out within the EU NoE Enactive. The authors are grateful to Eu- Massimo Bergamasco / Future trends and Applications, Education 35 Figure 10: Haptic Desktop system can interact with operators by means of different tools such as pens, pencils, paper, etc. ropean governments whose grants constituted a valid cofinancing of the presented research. The authors also thank the partnership of the mentioned project. 8. CONCLUSION & FUTURE WORK The Haptic Desktop reduces the actual workspace needed for accessing computer resources. Thanks to the integration of electronic devices, the encumbrance related to the connectors of the conventional devices has been disappeared. The novel interaction approach of the HD leads to the satisfaction of the following objectives: ¯ The coherence and collocation between the haptic and graphical information is assured; ¯ The addition of force feedback as an additional perceptual channel for enhancing the interaction between user and computer; ¯ The possibility of integrating real instruments for rendering more natural means of interaction, i.e. pen, sheet, etc.; ¯ The access to computer resources is more simple, as the interaction point is coincident with the graphical cursor of the system; ¯ The introduction of haptic information linked to operator movements and/or events can be programmed. ¯ The use of the system as a transfer skill system for enhancing human skills and/or as a rehabilitation tool for disable people; ¯ The integration of different perceptual channels (i.e. haptic, visual, and audio) makes possible to generate real immersive experiences for the user; ¯ The replacement of conventional drawing instruments is possible by using the haptic device. c The Eurographics Association 2005.
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