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Graduate Course Proposal Form Submission Detail - EML6594
Tracking Number - 2585

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Current Status: Approved, Permanent Archive - 2012-01-26
Campus: Tampa
Submission Type: New
Course Change Information (for course changes only):
Comments: Need verification of Catalog Copy; enrichment course; not required; copy not needed. Leared; to GC 11/3/1. to GC 11/3/11. Approved. To USF System 11/28/11. to SCNS 12/6/11. Appd 6594 (sub 6593). Eff 1/1/12. Posted in banner

Detail Information

  1. Date & Time Submitted: 2011-08-08
  2. Department: Mechanical Engineering
  3. College: EN
  4. Budget Account Number: 10000 210500 000000 0000000
  5. Contact Person: Kyle Reed
  6. Phone: 8139742385
  7. Email:
  8. Prefix: EML
  9. Number: 6594
  10. Full Title: Haptics
  11. Credit Hours: 3
  12. Section Type: C - Class Lecture (Primarily)
  13. Is the course title variable?: N
  14. Is a permit required for registration?: N
  15. Are the credit hours variable?: N
  16. Is this course repeatable?:
  17. If repeatable, how many times?: 0
  18. Abbreviated Title (30 characters maximum): Haptics
  19. Course Online?: C - Face-to-face (0% online)
  20. Percentage Online: 0
  21. Grading Option: R - Regular
  22. Prerequisites: EML 3041, EML 4312
  23. Corequisites:
  24. Course Description: Course covers the theory and implementation of haptic interfaces and rendering, teleoperation, modeling, control and stability of feedback for robotic systems and virtual environments, and introduces the related human haptic sensing capabilities.

  25. Please briefly explain why it is necessary and/or desirable to add this course: Offered as enrichment course (not part of program/concentration/certificate)
  26. What is the need or demand for this course? (Indicate if this course is part of a required sequence in the major.) What other programs would this course service? This class would serve as an elective for Graduate students interested in robotics, biomechanics, and related fields. Currently, there is no appropriate course for Mechanical Engineering students to take that would expose them to further concepts in the mechanics of human sensory perception, controls, or programming. This class would enable interested students to further pursue these academic interests. This class would serve most departments in the College of Engineering. Although not specifically designed for other majors, students from any major with adequate experience could enroll. Since Haptics is pervasive in many fields, enrolling non-engineering students would benefit the interdisciplinary nature of Haptics. In the first two years it has been offered, an average of 15 students took the course.
  27. Has this course been offered as Selected Topics/Experimental Topics course? If yes, how many times? Yes, 2 times
  28. What qualifications for training and/or experience are necessary to teach this course? (List minimum qualifications for the instructor.) To teach this class, the instructor needs a thorough knowledge of Engineering with experience in human physiology and/or Haptics and knowledge of C++ or a related real-time programming language.
  29. Objectives: The objectives of the class is for students to learn how to design systems that enable force and tactile feedback of virtual environments. The students will learn how humans perceive real objects to learn the salient properties that are necessary to be recreated in virtual environments. Due to fast update rates necessary for these systems, students will learn how to program these systems using a fast computer language, such as C++.
  30. Learning Outcomes: After completing this course, students will be able to describe the mechanoreceptors found in the human body and the neural pathways for incoming sensory perception and outgoing motor commands, which will be demonstrated by several quizzes throughout the course. Students will be able to apply this knowledge of human perception to design virtual and tactile systems that are able to recreate the effect of simulated objects, which will be demonstrated by a design project at the end of the course. Students will be able to understand current research in the field of Haptics, which will be demonstrated by in class discussions of recent studies found in conference and journal papers. Students will be able to implement virtual environments on Haptic devices, which will be demonstrated by homework assignments.
  31. Major Topics: Major course topics consist of the control/stability of feedback in virtual environments and robotic systems, haptic interfaces, teleoperation control systems, haptic rendering, modeling, human sensory cababilities, statistics, and programming.
  32. Textbooks: The course does not have a textbook. All of the required readings come from conference/journal papers and book chapters that are freely available as PDFs from the University library. The papers are updated yearly to teach the most recent information and come from conferences such as World Haptics or the Haptics Symposium and IEEE Transactions on Haptic.
  33. Course Readings, Online Resources, and Other Purchases: A SensAble PHANTOM Omni is needed for the virtual environment labs and some class projects. Other necessary purchases include components for the projects that vary each year.
  34. Student Expectations/Requirements and Grading Policy: Homeworks (30%): There will be regular homeworks, some of which will involve programming assignments using several shared computers.

    Project (35%): There will be one team-based semester project, culminating in a final report and a haptics demonstration. Progress and check points before the final due date will count toward the final grade.

    Quizzes (15%): There will several quizzes throughout the semester, which will be announced ahead of time.

    Class Participation (10%): Students must keep up with readings and actively participate in class discussions as participation will be graded.

    Presentation (10%): The presentation is a detailed lecture on a topic related to haptics done individually, The presenter will also be responsible for preparing a short discussion or group activity related to the paper.

    Policy: 90+ = A; 80-89.9 = B; 70-79.9 = C; 60-69.9 = D;

  35. Assignments, Exams and Tests: There are approximately 4 quizzes throughout the semester and approximately 9 homework assignments and one class project.
  36. Attendance Policy: Course Attendance at First Class Meeting Policy for Graduate Students: For structured courses, 6000 and above, the College/Campus Dean will set the first-day class attendance requirement. Check with the College for specific information. This policy is not applicable to courses in the following categories: Educational Outreach, Open University (TV), FEEDS Program, Community Experiential Learning (CEL), Cooperative Education Training, and courses that do not have regularly scheduled meeting days/times (such as, directed reading/research or study, individual research, thesis, dissertation, internship, practica, etc.). Students are responsible for dropping undesired courses in these categories by the 5th day of classes to avoid fee liability and academic penalty. (See USF Regulation Registration - 4.0101,

    Attendance Policy for the Observance of Religious Days by Students: In accordance with Sections 1006.53 and 1001.74(10)(g) Florida Statutes and Board of Governors Regulation 6C-6.0115, the University of South Florida (University/USF) has established the following policy regarding religious observances: (

    In the event of an emergency, it may be necessary for USF to suspend normal operations. During this time, USF may opt to continue delivery of instruction through methods that include but are not limited to: Blackboard, Elluminate, Skype, and email messaging and/or an alternate schedule. Its the responsibility of the student to monitor Blackboard site for each class for course specific communication, and the main USF, College, and department websites, emails, and MoBull messages for important general information.

  37. Policy on Make-up Work: NO make-ups will be given for quizzes, homeworks, projects, or presentations unless the student is seriously ill, a death in the family, or other legitimate, documented, family emergency. Notification of absence must be given prior to the scheduled assignment due date.
  38. Program This Course Supports: Mechanical Engineering
  39. Course Concurrence Information:

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