Force Feeling Research Articles

헬리콥터 비행훈련장치용 조종력재현장치의 개발에 관한 연구

A study on the development of control loading system for a pilot command in the helicopter flight training device is performed. The key issue of the device is how to provide closely the real feeling of the stick forces to the trainer during the flight training. Focusing on this proviso and considering the suitable approach than the complexity of the hydraulic system, we adopt the AC servo motor system although its inherent disadvantages such as the torque ripple and the stick-slip friction effect at a low control force. However, we overcome these detrimental effects by introducing the appropriate control device and the robust structural design of the actuating system, thereby the feasibility and applicability to the system can be obtained by showing good performance, meeting the required specification.

A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback

A novel triaxial force sensing device developed by the authors with a MEMS sensor as core component is mounted on a subnanometric resolution nanomanipulator having three degrees of freedom (DOF). This sensorized device allows measuring forces on the nanomanipulator tip in the range of 0–3 N for normal and ±50 mN for tangential forces with a resolution of 11 bits. Together with a haptic input device, a setup was created allowing palpation and force feeling. The mathematical model used to drive the master haptic interface force feedback capabilities is based on online force and stiffness measurement. The performance of the novel setup is demonstrated with a cell palpation experiment.

Haptic interaction in VR-based paracentesis simulation for dexterity enhancement and assessment

In this paper, we describe the development of an interactive virtual reality (VR) system that aims to realistically simulate specific paracentesis clinical procedures (particularly the procedure involved in the catheterization of the subclavian vein). A simplified elasto-static finite-element model is used for the physically based simulation of the deformable tissues, particularly skin deflection during needle insertion. The VR-based simulation is being coupled with a haptic feedback device to provide to the user realistic feeling of the interaction forces applied during the simulated paracentesis procedure. The system described is developed in the frames of a research project aiming to develop a larger-scale virtual environment simulator of emergency room (ER) scenarios and protocols for clinical skill training and assessment.

Construction Method of Virtual Objects and Its Manipulation Using Haptic Interface

Recently, Haptic Interface has been interested as a force display device in new technology, which presents force feelings in virtual reality. When we present the force feelings, it is the most important how to realize the force feelings from both touching and manipulating process of virtual objects. Although many papers have been reported on the Haptic Interface, most of them are only concerned with the Haptic Interface hardware and its control problems. There are few papers on construction method of virtual objects and its manipulation using the Haptic Interface. This paper discusses whole process to realize the force feelings from the virtual objects, which means the Haptic Interface architecture control algorithm, construction method of the virtual objects and its manipulation. As the example of manipulating the virtual object, this system realizes the force feelings when the virtual objects are moved on floor with friction. Since these feelings are realized so real, we can easily sense the difference the same as the natural condition when the mass of the virtual object and the friction coefficient are changed.

An experimental study on the effects of Network delay in Cooperative Shared Haptic Virtual Environment

A cooperative shared haptic virtual environment (CSHVE), where the users can kinesthetically interact and simultaneously feel each other over the network, is beneficial for many distributed VR simulations. A little is known about the influences of the network delay on the quality of haptic sensation and the task performance in such environments. This paper has addressed these issues by conducting a subjective evaluation to the force feedback and the task performance in a tele-handshake cooperative shared haptic system for different delay setting. Also, four subjective measures to evaluate the quality of haptic in CSHVEs have been proposed. These measures are the feeling of force, the consistency between the haptic-visual feedback, the vibration, and the rebound in the haptic device. In addition, a detailed description of the haptic sensation for different time delays is also described. A network emulator was utilized to simulate the real network cloud. An objective evaluation of the force feedback and the performance showed that there was no effect of the delay on the force feedback. It had a negative impact on the task performance. In general, the quality of haptic deteriorated as the delay increased and vibration and rebound hampered the users for large time delay. The haptic-visual consistency was robust in the presented system even for large time delays. Nevertheless, the examined tele-handshake system was able to deliver a high quality of haptic sensation, good performance, and stability for large time delay over the network.

Development of a Hydraulic Tele-Operated Construction Robot using Virtual Reality

AbstractIn this study, we have developed a bilateral telerobotics system for a construction robot using virtual reality. The system consists of a servo-controlled construction robot, two joysticks for operation of the robot from a remote place, and a three degrees of freedom motion base. The operator of the robot sits on the motion base and controls the robot bilaterally from a remote place. The role of the motion base is to realistically simulate the motion of the construction robot. In this study, firstly, we propose a new method of master-slave control in order to make better feedback feeling of the reaction force to the joystick for the tele-operated construction robot. Secondly, we tested the visual feedback system for the construction robot using CCD video camera and computer graphics. For tele-operations, a video image of the operation field is normally projected onto a screen to assist the operator. In this study, an additional computer graphics (CG) was generated as a virtual robot to the real vi...

Portable Haptic Interaction Device Using Micro-Catheter for IR Simulation

In interventional procedures, the haptic “feel᾿ and the real-time fluroscopic image displayed on the video monitor are two means for the physicians to navigate the catheter/guidewire into a desired vessel segment. This paper presents a portable haptic interaction device which can be used to navigate the motion (push/pull and rotation) of navigation devices (catheters and guidewires) and provide realistic feeling of the feedback forces. The resolution of the tracking mechanism is 0.137mm and the tracking error is less than 3.5mm. The maximum frictional force provided by our embodiment is 5N.

DEVELOPMENT OF PNEUMATIC FORCE DISPLAY DEVICE FOR HUMAN FINGERTIPS

In this study, we aim at developing a device that can display compliance property of an object for human fingertips. Pneumatic actuator is focused to be employed as our displaying device from view that pneumatic actuators bring minute force control property owing to the air compressibility. Concretely, pneumatic cylinders are set on a base plane with their head side edge by flexible joint, while their rod side one is connected with fingertip directly to display force feeling by regulating pressure in cylinder's chamber. Compliance control system is constructed on the developed displaying equipment. The validity of the proposed system is confirmed through some experiments and analysis.

適応制御を用いたバイラテラルサーボ機構

Bilateral servo systems are useful on remote control manipulators because operators can defend objects against damages by reaction force feeling. In this study an adaptive control method is introduced on a slave manipulator with unknown dynamic parameters on the basis of the bilateral servo system including force error compensation method. This system is stable by means of Liapunov stability theorem. This method is confirmed to be effective on the basis of simulation and experimental results.

A Touch/Force Display System for Haptic Interface

The importance of force and tactile display in virtual reality technology has been recognized recently, and much research has been undertaken, including development of various force and/or tactile display devices. However, many of these devices are always in contact with the fingers or hands of the operators, and it is impossible for an operator to feel the difference between a contact and a noncontact state with a virtual object directly from tactile sensory channel in his/her finger or hand. This paper presents a new haptic display device that we have developed that provides both touch and force feeling to the operator's fingers. The device tracks the operator's finger without contact when the finger is not in contact with any virtual object. When some virtual object is in contact with the finger, the device touches and displays force to the finger. A control algorithm for the system is given to display the dynamics of the virtual objects. Preliminary experimental results are also presented to show the feasibility of the device and the validity of the control algorithm.

Development and Control of Touch and Force Display Devices for Haptic Interface

This paper presents two haptic display devices we have developed for providing both touch and force feeling to the operator’s fingers. These devices are robotic linkage mechanisms that can track the fingertips of the operator without contact in free space of the virtual world and also apply force to the fingertips when in contact with dynamic virtual objecŴs. One is for two-dimensional use and the other is for three-dimensional use. The structure of the devices, control algorithms, and some experimental results are presented.

無負荷時非接触型力覚提示装置

The importance of force and tactile display in virtual reality technology has been recognized recently and numerous researches have been done including development of various force and/or tactile display devices. However, many of them are always in touch with fingers or hands of operators and it is impossible for an operator to feel difference between contact and non-contact state with a virtual object directly from sensory channel of touch in his/her finger or hand. This paper presents a new haptic display device we have developed which provides both touch and force feeling to the operator's fingers. This device tracks the operator's finger with no contact when the finger is not in contact with any virtual object. It touches and displays force to the finger only when some virtual object is in touch with the finger. A control algorithm for the system to display dynamic virtual objects is given. Preliminary experimental results are also presented.

Selecting Appropriate Sales Quota Plan Structures and Quota-Setting Procedures

The typical objective of a sales quota-bonus plan (QBP) is to enhance salespeople's performance by granting them a bonus when they reach a prespecified performance level (a sales quota), set higher than the performance level they would achieve otherwise. Even though QBPs are short-term plans, they have long-run profit impacts through their effects on a sales force morale and feelings of equity (or inequity). This is why devising sales quota plans has always been a difficult task. This paper's objective is to discuss how different QBP structures and related quota setting procedures are likely to be selected by management, depending on such situational characteristics as management's objectives, constraints, and available (or collectible) information.

抵抗感を伴う立体視画像切断システムの開発

抵抗感を伴う立体視画像切断システムの開発