Development Of Haptic Interface Research Articles

Development of Haptic Interface for Neurosurgical Simulators with Micro Scissors Module for Displaying the Cutting Force

Introduction of surgical simulators, which enable repeated learning of new surgical techniques, is advancing and they are desired in the field of neurosurgery. This study aims to make a two-fold contribution. First is the development of a haptic interface, which can be used while changing the operative tools necessary for training the cerebral fissure opening technique while using both the hands. Second is to develop a module for the haptic interface, which can display the cutting force when using micro scissors. To realize the operation with both the hands, the haptic interfaces for the right and left hands are designed so that they do not interfere. In addition, surgical tools, such as retractors, micro dissectors, and micro scissors, can be exchanged. In the cutting experiment carried out prior to the development of the haptic interface, it was clarified that the force when the dura mater was cut using micro scissors was 0.5 N. For comparison, the cutting forces required to cut two and three sheets of paper were measured to be 0.4 N and 0.6 N, respectively. The developed micro scissors module was designed using one motor and planetary gear mechanism. The gear mechanism is designed such that the right and left handles rotate in reverse directions around the rotation axis of the micro scissors using only one motor. This mechanism enables the micro scissors to cut the virtual tissues in the middle of the blade. The developed module could display a force of 0.4 N.

Development of Haptic Interface for Dental Palpation Training System using Parallel Link Robot

Development of Haptic Interface for Dental Palpation Training System using Parallel Link Robot

Haptic Interface Technique in Large-Scale Virtual Environment

ABSTRACTThe CAD modeling system based on virtual reality (VR) techniques enables the user to create, modify and manipulate 3D CAD models intuitively, and at the same time allows the user to visualize CAD models immersively. This paper presents the research work on the development of haptic interface in the large-scale virtual environment and the integration of such a haptic interface in the VR based CAD modeling system. The haptic device has limited physical workspace compared to the large stereoscopic screen of the virtual environment. There is a mismatch between the workspace of the haptic device and the large-scale virtual environment. The haptic rendering algorithm presented in this paper consists of three parts: haptic workspace moving algorithm, collision detection, and collision response.

Haptic force control based on impedance/admittance control aided by visual feedback

This paper demonstrates a haptic device for interaction with a virtual environment. The force control is added by visual feedback that makes the system more responsive and accurate. There are two popular control methods widely used in haptic controller design. First, is impedance control when user motion input is measured, and then, the reaction force is fed back to the operator. The alternative method is admittance control, when forces exerted by user are measured and motion is fed back to the user. Both, impedance and admittance control are also basic ways for interacting with a virtual environment. In this paper, several experiments were performed to evaluate the suitability of force-impedance control for haptic interface development. The difference between conventional application of impedance control in robot motion control and its application in haptic interface development is investigated. Open loop impedance control methodology is implemented for static case and a general-purpose robot under open loop impedance control was developed as a haptic device, while a closed loop model based impedance control was used for haptic controller design in both static and dynamic case. The factors that could affect to the performance of a haptic interface are also investigated experimentally using parametric studies. Experimental results for 1 DOF rotational motion and 2 DOF planar translational motion systems are presented. The results show that the impedance control aided by visual feedback broaden the applicability of the haptic device and makes the system more responsive and accurate.

HAPTIC FORCE CONTROL BASED ON IMPEDANCE/ADMITTANCE CONTROL

There are two popular control methods widely used in haptic controller design. First, is impedance control – the operator motion input is measured, and then, the reaction force is fed back to the operator. The alternative method is admittance control-forces exerted by operator are measured and positions are fed back to the operator. Both, impedance and admittance control are also two basic methods for interacting with a virtual environment. In this paper, several experiments were performed to evaluate the suitability of impedance control with force feedback for haptic interface development. The difference between conventional application of impedance control in robot motion control and its application in haptic interface development is investigated. Open loop impedance control methodology is implemented for static case and a general-purpose robot under open loop impedance control was developed as a haptic device, while a closed loop model based impedance control was used for haptic controller design in both static and dynamic case. The factors that could affect to the performance of a haptic interface are also investigated experimentally using parametric studies. The experiments were carried out using an experimental setup. Experimental results for 1 DOF rotational motion and 2 DOF planar translational motion systems are presented. Other experimental results are also shown and discussed.