Haptic System Research Articles

Design and Evaluation of Haptic Guidance in Ultrasound-Based Needle-Insertion Procedures.

This article presents two haptic guidance systems designed to help a clinician keep an ultrasound probe steady when completing ultrasound-assisted needle insertion tasks. These procedures demand spatial reasoning and hand-eye coordination because the clinician must align a needle with the ultrasound probe and extrapolate the needle trajectory using only a 2D ultrasound image. Past research has shown that visual guidance helps the clinician align the needle, but does not help the clinician keep the ultrasound probe steady, sometimes resulting in a failed procedure. We created two separate haptic guidance systems to provide feedback if the user tilts the ultrasound probe away from the desired setpoint using (1) vibrotactile stimulation provided by a voice coil motor or (2) distributed tactile pressure provided by a pneumatic mechanism. Both systems significantly reduced probe deviation and correction time to errors during a needle insertion task. We also tested the two feedback systems in a more clinically relevant setup and showed that the perceptibility of the feedback was not affected by the addition of a sterile bag placed over the actuators and gloves worn by the user. These studies show that both types of haptic feedback are promising for helping the user keep the ultrasound probe steady during ultrasound-assisted needle insertion tasks. Survey results indicated that users preferred the pneumatic system over the vibrotactile system. Haptic feedback may improve user performance in ultrasound-based needle-insertion procedures and shows promise in training for needle-insertion tasks and other medical procedures where guidance is required.

Analog Position Estimation for Enhanced Stability and Fidelity of Haptic Systems.

In this paper, we propose three methods to compute low-latency analog position where two of them fuse encoder and rate gyro signals. While one method is based on gyro with bias correction using encoder information, the other one is encoder-referenced combined with a resettable integrator to minimize the staircase form of encoder signals. Experiments on a one degree-of-freedom haptic simulation system have shown that a low-latency analog position with an accuracy over 98% compared to the sampled encoder signal can be obtained. The analog position signals are then utilized to produce analog viscoelastic virtual environments to assess and benchmark the proposed methods through uncoupled stability and perceived fidelity tests. The results have shown that a virtual stiffness range larger than 400% can be obtained with enhanced fidelity compared to common digital implementations.

Skin-stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task.

Laparoscopic surgery brings substantial benefits to patients. However, it remains challenging for surgeons because of motion constraints and perception limitations. Notably, the perception of interactions with organs is largely compromised. This paper evaluates the effectiveness of a forearm-based skin-stretch haptic feedback system rendering surgical tool tip force. Twenty novice participants had to discern the stiffness of samples to investigate stiffness perception in a simulated laparoscopic task. The experimental protocol involved manipulating samples with three difficulty levels and testing three feedback conditions: no augmentation, visual feedback, and tactile feedback. The results demonstrate that feedback significantly enhances the success rate of laparoscopic palpation tasks. The proposed tactile feedback boosts confidence and task speed and reduces peak force and perceived workload. These benefits become even more pronounced when difficulty increases. These promising findings affirm the value of skin-stretch haptic feedback augmentation in improving performance for simulated laparoscopy tasks, paving the way for more integrated and deployable devices for the operating room.

Short-term functional outcomes of robotic-assisted TKA are better with functional alignment compared to adjusted mechanical alignment.

Ligament balancing is essential to the functional outcome of total knee arthroplasty (TKA). The optimal method of alignment remains a controversial issue. The primary objective was to compare the clinical outcomes of TKA between functional and adjusted mechanical alignment techniques. The secondary objectives were to compare bone resection, robotic alignment, and radiological assessment. This was a retrospective case-control series comparing TKA performed with functional alignment (FA) and adjusted mechanical alignment (aMA). Sixty-four FA subjects were matched with 64 aMA controls. These two groups were matched for age, gender, body mass index (BMI), surgeon, and type of frontal deformity. Both surgical procedures were performed using the MAKO® haptic robotic system. Functional scores (Forgotten Joint Score (FJS), Knee Society Score (KSS), and Oxford Knee Score (OKS)) were measured at the final postoperative follow-up. A radiographic evaluation was performed at the same time. Mean FJS were respectively 63.4±25.1 [0-100] and 51.2±31.8 [0-100] in FA versus aMA group (p=0.034). Mean OKS were respectively 40.8±6.3 [21-48] and 34.9±11.8 [3-48] in FA versus aMA group (p=0.027). Mean KSS were respectively 184.9±17.0 [126-200] and 175.6±23.1 [102-200] in FA versus aMA group (p=0.02). The main residual symptom was "none" for 73.0% versus 57.8%, "instability" for 6.4% versus 21.9%, "Pain" for 19.1% versus 12.5%, and "effusion" for 1.6% and 7.8% respectively for FA and aMA group (p=0.016). There were 4 complications in the FA group versus 5 in the aMA group (p>0.999). Mean postoperative hip-knee-ankle (HKA) robotic assessment were respectively 177.3°±2.0 [172-180] and 178.2°±2.0 [173-180] for FA and aMA group (p=0.018). The median difference between HKA robotic and HKA radiological was -3.0° (IQR=3.0; p<0.001). With greater residual deformity and without release, functional alignment showed a statistically significantly better short-term clinical outcome than adjusted mechanical alignment. This difference may not be clinically significant.

Trilateral Shared Control of a Dual-User Haptic Tele-Training System for a Hexapod Robot With Adaptive Authority Adjustment

Trilateral Shared Control of a Dual-User Haptic Tele-Training System for a Hexapod Robot With Adaptive Authority Adjustment

A Physics-Based Virtual Reality Haptic System Design and Evaluation by Simulating Human-Robot Collaboration

A Physics-Based Virtual Reality Haptic System Design and Evaluation by Simulating Human-Robot Collaboration

Design and Characterization of a Low-Profile Haptic System for Telemanipulation

Design and Characterization of a Low-Profile Haptic System for Telemanipulation

Application of virtual reality and haptics system Simodont in Chinese dental education: A scoping review.

Virtual reality (VR) and haptic simulation technology have been increasingly implemented in dental training. Since the first haptic VR dental simulator (Simodont) was introduced 10 years ago, it has been applied in more than 40 universities in mainland China. This scoping review aimed to review literature, showcasing the teaching reform of dental virtual simulation in mainland China to global dental education peers. This scoping review was conducted using the PRISMA extension for scoping review guidelines. Seven electronic databases were searched, and two reviewers independently performed the selection and characterization of the studies. The final scoping review included 12 studies. Four studies focused on the G. V. Black class II cavity, three on manual dexterity skills training, two on full metal crown preparation, one on pulpal access and coronal cavity preparation, one on flipped classroom teaching, and one on 'doctor-patient communication' skills. The most critical scenarios, self-assessment, working posture, curriculum setting, training and cost are analysed and discussed. Haptic simulation technology is a valuable complementary tool to the phantom head in dental education. The combined utilization of these two training devices has been superior to either in isolation. However, there is a lack of research on the sequencing of the two systems, as well as the appropriate distribution of curriculum between them. It is necessary for educators to organize or engage in experience sharing, collaboration and knowledge dissemination. These actions are essential for promoting effective teaching within dental educational institutions.

Wearable biosensors and their applications in healthcare

The technologies used in medical care region could become more widely-discussed in the society. In the past, most biosensors were used in the manufacturing and engineering to increase the efficiency of production enable to meet the requirements of mass production, as the inventors expand the use of piezoelectric biosensors, their application in healthcare and virtual reality become important. Therefore, this paper collected and summarized the results of several previous research papers, explained the different working theories of many types of biosensors, and detailed discussed the specific biosensors used in these areas to look into this topic. The finding is that effectively use the piezoelectric materials (PZT) sensors could largely improve the medical level and the function of virtual reality. The wearable haptic feedback system can be used not only in these areas, but lots have not been explored. The medical level and other fields can all be improved even more in the future through the use of biosensors.

Haptic Feedback Wristband for Tactile Graphics Reader

Traditionally, blind and visually impaired (BVI) readers face challenges in interpreting tactile graphics due to the need for specialized skills, training, and often external assistance. Existing audio feedback systems also present limitations, including susceptibility to surrounding noise and imprecise guidance. Therefore, this paper presents the design of an assistive device for tactile graphics reader using a haptic feedback system. This device takes the form of a digital watch with an adjustable strap, ensuring compatibility with various wrist sizes. It incorporates four strategically placed vibrating mini-motor discs that deliver directional signals to the user's hand through precise vibrations, guiding their exploration towards the area of interest on the tactile graphic. Pilot testing involving blindfolded sighted readers was conducted to assess the effectiveness of this haptic feedback wristband. The results of the testing revealed that participants could successfully discern direction cues and distinguish varying levels of vibration intensity. Notably, the success rates exceeded 70% for navigation and 85% for vibration intensity recognition.

THE INFLUENCE OF SEX FACTOR ON THE MODELING OF THE HUMAN HAND/ARM INTERACTING WITH A TELEOPERATION SYSTEM

This paper addresses the lack of research on the dynamical differences between male and female hand/arm models during interaction with haptic systems. A linear one-degree-of-freedom experiment is designed using the Novint Falcon robot for this aim. To compare the differences, the study analyzes the pole, stiffness, and damping of a first-order two-parameter spring–damper model. The Mann–Whitney U and Fligner-Killeen tests were used to explore the homogeneity in medians and variances of the groups. The results indicate that there is no significant difference in the median values of poles and stiffnesses between male and female models. However, there is a statistically significant difference in the damping coefficient with a 0.05 significance level and a p-value of 0.0361. Regarding variances, the statistical measures do not indicate any significant differences between each sex. However, the p-value of 0.0669 for the stiffness parameter suggests that the stiffness parameters of the aforementioned groups may come from different distributions.

Impact of haptic simulators in preclinical dental education: A systematic review.

Haptic technologies have opened a new avenue in preclinical dental education, with evidence that they can be used to improve student performance. The aim of this systematic review was to (1) determine the effect of haptic simulators on motor skill acquisition during preclinical dental training, (2) explore students' perception, and (3) explore the ability of haptic systems to distinguish users based on their initial level of manual dexterity. A comprehensive search of articles published up to February 2023 was performed using five databases (i.e., PubMed/Medline, ScienceDirect, Web of Sciences, Scopus, and Cochrane Library) and specialized journals. The Preferred Reporting Items for Systematic Review and Meta-Analysis 2020 guidelines were followed, and the risk of bias was assessed. Only studies on the application of haptic simulators in dentistry preclinical training were included. Qualitative synthesis of data was performed, and the protocol was registered in PROSPERO (ID = CRD42022337177). Twenty-three clinical studies, including 1303 participants, were included. The authors observed a statistically significant improvement in dental students' motor skills in various dental specialties, such as restorative dentistry, pediatric, prosthodontics, periodontics, implantology, and dental surgery, after haptic training. Haptic technologies were perceived well by all participants, with encouraging data regarding their ability to differentiate users according to their initial level of manual dexterity. Our work suggests that haptic simulators can significantly improve motor skill acquisition in preclinical dental training. This new digital technology, which was well perceived by the participants, also showed encouraging results in discriminating users according to their level of experience.

Controlling a Below-the-Elbow Prosthetic Arm Using the Infinity Foot Controller

Nowadays there are various prosthetic arm designs in the literature, the market, and CAD design websites, with different shapes, sizes, and degrees of freedom. Only limited options are available for controlling such prostheses. Prosthetic arm users reported muscle fatigue and unreliability when using the market-dominated myoelectric sensors. This work presents the “Infinity Foot Controller” as a new approach to control a five-finger below-the-elbow prosthetic arm with wrist rotation and bending capabilities. This foot control system receives user input from a custom insole and a sensor-controller unit placed alongside the user’s shoe to perform various hand grips, gestures, and/or rotations. To demonstrate the new foot controller, a design of a 3D-printed below-the-elbow prosthetic arm, called the “Infinity Arm”, is presented. This arm is suitable for gripping relatively lightweight objects and making hand gestures. It includes a wrist actuation system that permits 120° wrist rotation and 70° wrist extension and flexion. It also includes a haptic feedback system that utilizes fingertip force sensors to relay a vibratory response in an armband placed on the user’s arm, giving the user a sense of touch. A proof-of-concept model was built to demonstrate the system and a testing procedure was proposed.

Finite-time control of dual-user haptic system with online authority transfer.

A finite-time control method with online authority transfer is proposed for a class of dual-user haptic system (DUHS) with training tasks. An authority transfer strategy based on the error system reflecting task performance is designed to adjust the dominance factor so that the system can realize smooth online switching between different modes. Next, the desired position is defined according to the dominance factor, and then the sliding mode surface is constructed by the position tracking error to design a nonsingular terminal sliding-mode control. The stability and position tracking performance of DUHS are analyzed by Lyapunov theory, and the effectiveness of the proposed method is verified. The proposed method not only enables smooth online switching of task authority between the trainer and the trainee but also ensures that the position tracking error of the system converges in a finite time.

Application of virtual reality in simulated training for arthroscopic surgeries: A systematic literature review

INTRODUCTION: In recent years, technology has provided significant contributions to the health area with innovative projects such as artificial intelligence, virtual reality, augmented reality, etc. OBJECTIVE: This review aims to review studies that propose solutions with virtual reality (VR) technologies for the training of surgeons in the arthroscopic surgery procedure. Method: We identified 352 articles from the Scopus database, from 2017 to the present, of which 31 studies were retrieved by a screening procedure based on the principles of the PRISMA declaration for the study of this systematic literature review (RSL). Results: The implementation of virtual reality in surgical simulations has significantly reduced the percentage of risk in the execution of arthroscopic surgeries. Conclusions: The virtual reality implemented in the simulations of arthroscopic surgeries stands out and represents a promising tool that will allow improvements with respect to the formation of skills and the anticipation of possible events. However, it is necessary to address certain limitations, such as the accuracy and realism of simulations, as well as the implementation of haptic or perceptual systems to improve tactile or visual feedback during simulation.

HaptStarter: Designing haptic stimulus start system for deaf and hard of hearing sprinters

In this study, we design and develop HaptStarter—a haptic stimulus start system—to improve the starting performance of the deaf and hard of hearing (DHH) sprinters. A DHH person has a physical ability nearly equivalent to hearing; however, the difficulties in perceiving audio information lead to differences in their performance in sports. Furthermore, the visual reaction time is slower than the auditory reaction time (ART), while the haptic reaction time is equivalent to it. However, a light stimulus start system is increasingly being used in sprint races to aid DHH sprinters. In this study, we design a brand-new haptic stimulus start system for DHH sprinters; we also determine and leverage an optimum haptic stimulus interface. The proposed method has the potential to contribute toward the development of prototypes based on the universal design principle for everyone (DHH, blind and low-vision, and other disabled sprinters with wheelchairs or artificial arms or legs, etc.) by focusing on the overlapping area of sports and disability with human–computer interaction.

Interday Reliability of Upper-limb Geometric MyoPassivity Map for Physical Human-Robot Interaction.

The value of intrinsic energetic behavior of human biomechanics has recently been recognized and exploited in physical human-robot interaction (pHRI). The authors have recently proposed the concept of "Biomechanical Excess of Passivity," based on nonlinear control theory, to construct a user-specific energetic map. The map would assess the behavior of the upper-limb in absorbing the kinesthetic energy when interacting with robots. Integrating such knowledge into the design of pHRI stabilizers can reduce the conservatism of the control by unleashing hidden energy reservoirs indicating a less conservative margin of stability. The outcome would enhance the system's performance, such as rendering kinesthetic transparency of (tele)haptics systems. However, current methods require an offline data-driven identification procedure prior to each operation to estimate the energetic map of human biomechanics. This can be time-consuming and challenge users susceptible to fatigue. In this study, for the first time, we investigate the interday reliability of upper-limb passivity maps in a sample of five healthy subjects. Our statistical analyses indicate that the identified passivity map is highly reliable in estimating the expected energetic behavior based on Intraclass correlation coefficient analysis (conducted on different days and with various interactions). The results illustrate that a one-shot estimate is a reliable measure to be used repeatedly in biomechanics-aware pHRI stabilization, enhancing practicality in real-life scenarios.

Metaverse Wearables for Immersive Digital Healthcare: A Review.

The recent exponential growth of metaverse technology has been instrumental in reshaping a myriad of sectors, not least digital healthcare. This comprehensive review critically examines the landscape and future applications of metaverse wearables toward immersive digital healthcare. The key technologies and advancements that have spearheaded the metamorphosis of metaverse wearables are categorized, encapsulating all-encompassed extended reality, such as virtual reality, augmented reality, mixed reality, and other haptic feedback systems. Moreover, the fundamentals of their deployment in assistive healthcare (especially for rehabilitation), medical and nursing education, and remote patient management and treatment are investigated. The potential benefits of integrating metaverse wearables into healthcare paradigms are multifold, encompassing improved patient prognosis, enhanced accessibility to high-quality care, and high standards of practitioner instruction. Nevertheless, these technologies are not without their inherent challenges and untapped opportunities, which span privacy protection, data safeguarding, and innovation in artificial intelligence. In summary, future research trajectories and potential advancements to circumvent these hurdles are also discussed, further augmenting the incorporation of metaverse wearables within healthcare infrastructures in the post-pandemic era.

Cultural Heritage Image Analysis and Support Modeling Using X-ray Computed Tomography: Focused on the Byeongsan Mask ‘Eul’ of the Hahoe Masks and Byeongsan Masks of Andong

Before conservation treatment, the Byeongsan Mask ‘Eul’ was damaged, and the face was separated on both sides and attached with stiffeners. For conservation treatment, it was necessary to remove the existing stiffeners and adhese the faces together. At this time, a support was needed to fix both faces that were separated during conservation process and to structurally stabilize the adhesion area where pressure could be concentrated even after adhesion. In order to manufacture new support, the shape analysis was first performed using the X-ray computed tomography data, and then the re-adhesion position was set. Next, modeling was conducted considering the function of the support and aesthetic conditions using the digital haptic modeling system. The completed model was printed by 3D printing using transparent material. The support produced in this study is significant in that it played a major role in the conservation process, such as being used not only to hold and store the masks but also to fix them during the conservation process. In addition, by producing support using digital methods and data, support optimized for the shape of artifact could be produced with minimal contact with artifact. This study presented a method for conserving and displaying artifacts using digital technology, and is expected to be expanded and applied to various cultural heritages.

Linear Resonator Actuator-Constructed Wearable Haptic System with the Application of Converting Remote Grinding Force to Vibratory Sensation

This study developed a three-axis vibrational haptic wearable device (RCWS) utilizing Linear Resonant Actuators (LRAs) to simulate grinding vibrations. The implementation of RCWS is described in detail. By recording the normal force during manual grinding with a load cell and converting it into a series of PWM commands, the LRA on the RCWS was controlled in open-loop mode using these PWM commands. Three methods were tested for force-to-PWM conversion, two of which showed a linear correlation (&gt;0.7) with raw data. In the correlation between PWM commands and generated acceleration, all three methods exhibited a high linearity of at least 0.85. This wearable RCWS offers a promising approach for users to experience the machining force from the versatile and critical remote machining process with a finger vibratory sensation.