One-Dimensional Haptic Rendering Using Audio Speaker with Displacement Determined by Inductance

Avin Khera,Sanjeev Shroff,George Stetten,Zhixuan Yu,Randy Lee,Roberta Klatzky,Mel Siegel,Avi Marcovici

doi:10.3390/machines4010009

Avin Khera, Sanjeev Shroff + Show 6 more

Open Access

https://doi.org/10.3390/machines4010009

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Abstract

We report overall design considerations and preliminary results for a new haptic rendering device based on an audio loudspeaker. Our application models tissue properties during microsurgery. For example, the device could respond to the tip of a tool by simulating a particular tissue, displaying a desired compressibility and viscosity, giving way as the tissue is disrupted, or exhibiting independent motion, such as that caused by pulsations in blood pressure. Although limited to one degree of freedom and with a relatively small range of displacement compared to other available haptic rendering devices, our design exhibits high bandwidth, low friction, low hysteresis, and low mass. These features are consistent with modeling interactions with delicate tissues during microsurgery. In addition, our haptic rendering device is designed to be simple and inexpensive to manufacture, in part through an innovative method of measuring displacement by existing variations in the speaker’s inductance as the voice coil moves over the permanent magnet. Low latency and jitter are achieved by running the real-time simulation models on a dedicated microprocessor, while maintaining bidirectional communication with a standard laptop computer for user controls and data logging.

Highlights

Comparison to Existing Haptic Rendering DevicesResearchers in haptics make extensive use of rendering devices capable of producing the sensation of touch as would occur during interactions with objects in the environment
Machines 2016, 4, 9 forces and provide mobility. Some, such as the Novint Falcon or the Force Dimension Omega, use parallel linkage mechanisms to generate forces—typically in the three translational degrees of freedom (DOF)—on a control ball or stylus, which is held by the user at the front of the device
Our haptic system uses uses a loudspeaker to effect to displacement of the mobile of component of a haptic renderer, taking advantage of the low friction and inertia exhibited by a 1-DOF haptic renderer, taking advantage of the low friction and inertia exhibited by this inexpensive this inexpensive commercial

Summary

Introduction

Researchers in haptics make extensive use of rendering devices capable of producing the sensation of touch as would occur during interactions with objects in the environment. Most systems presently available to consumers and researchers depend on mechanical linkages to generate these. Machines 2016, 4, 9 forces and provide mobility. Of those, some, such as the Novint Falcon or the Force Dimension Omega, use parallel linkage mechanisms to generate forces—typically in the three translational degrees of freedom (DOF)—on a control ball or stylus, which is held by the user at the front of the device. The. Novint Falcon can generate up to 8.9 N force over a 10 ˆ 10 ˆ 10 cm workspace.

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