.
Last updated: 2
Week 
Class Dates 
Material 
Lecture Notes 
Assignments 
1 
M 1/9 
Introduction to haptic systems and their applications 


1 
T 1/10 
Generating hapticfeedback with a manipulator 


1 
W 1/11 
Introduction to haptic rendering 


1 
Th 1/12 
Realtime programming for generating forcefeedback 


1 
F 1/13 
Introduction to forcefeedback telemanipulation 


2 
M 1/16 



2 
T 1/17 
Haptic rendering of rigid bodies (collision detection) 


2 
W 1/18 
Haptic rendering of rigid bodies (force shading, friction rendering and texture rendering) 


2 
Th 1/19 
Haptic assistance: Applications and Design Considerations (guest lecturer Panadda Marayong) 


2 
F 1/20 
Haptic rendering of deformable bodies 


3 
M 1/23 
Haptic rendering of deformable bodies (continued) 


3 
T 1/24 
Stability of haptic systems 


3 
W 1/25 
Effects of timediscritization and position quantization on the stability of haptic systems 


3 
Th 1/26 
Methods to stabilize haptic interactions with virtual environments 


3 
F 1/27 
Stability and transparency of forcefeedback telemanipulation systems 
