Haptic Training System Research Articles

A dual robust control architecture with variable stiffness and damping parameters for switching task dominance in collaborative haptic systems

AbstractIn collaborative haptic training systems, a novice operator is interfaced with an expert operator and cooperatively performs some task on a real/virtual environment. Most control architectures for collaborative haptic training systems do not consider the switching task dominance together with investigating overall stability in the presence of nonlinear dynamics and uncertainty. In this paper, a theoretical framework is presented for switching task dominance in collaborative haptic training systems based on supervision and intervention of the expert operator. To that effect, the novice operator performs the operation with as little as possible interference haptic signals in the normal operational conditions. On the other hand, the expert operator is able to intervene the operation to guide the novice operator when it is necessary. The most challenging part of controller design for such systems is to provide the mentioned supervisory framework in a way that the stability of interaction between the operators and the system is ensured with acceptable task performance in various operational conditions. This work offers a variable‐gain dual robust control scheme to address the above problem. The key idea is that the tracking gain of each controller is adjusted in real‐time to switch the task authorities. It is verified that the input‐to‐state stability property is satisfied for each subsystem. Then, the overall stability is proved by leveraging the small gain theorem. Finally, the functionality and performance of the suggested control architecture is demonstrated through simulation and experimental studies.

Promoting breast health awareness: Can a sensor-enabled training system for patient education help?

IntroductionAccording to a 2009 study published in the Journal of Clinical Oncology, 79% of women (N = 222) diagnosed with breast cancer reported that they identified their cancers through breast self-exam (BSE). However, the U.S. Preventative Services Task Force does not require clinicians to teach women how to perform BSE. MethodsTo address this grave challenge, our team at the Technology Enabled Clinical Improvement (TECI) Center has developed a mobile, sensor-enabled haptic training system to teach women proper BSE technique. To validate the efficacy of the training system, our team deployed a data collection at the 2019 Breast Cancer and African Americans (BCAA) event where survey, sensor, and anecdotal data were collected from 61 participants. The custom-built breast model used in this study had a single, hard mass embedded in it. ResultsParticipants at the BCAA event were able to successfully identify the mass 65% of the time and used an average force of 7.2 N. When looking at participants’ confidence in their abilities to perform BSE, only 10% of respondents answered “very confident” pre-training whereas post-training, the reporting for “very confident” jumped to 66% (p < 0.01). ConclusionBy comparison, our previous work revealed that practitioners who use less than 10 N of force are 70% more likely to miss a lesion. The integration of sensors into the BSE haptic training system allowed for objective, evidence-based assessment of hands-on skill. In addition to teaching women proper BSE technique, this training empowered women to be informed advocates in their breast health journey. Future community-based training/feedback sessions will allow for continuous advancement of the training system.

Two-Dimensional Fingertip Force Training With Improved Haptic Sensation via Stochastic Resonance

To learn motor skills using a finger in many haptic training systems, a user places his or her finger in a holder to communicate with a haptic interface. It is known that the force-detection capability at the fingertip is reduced when the user's finger is enclosed in a holder. The learning performance might therefore be impaired in training. Stochastic resonance is known to improve sensitivity at the fingertip. We thus propose a fingertip force learning method using stochastic resonance. We first examine the effect of stochastic resonance on the user haptic performance in a two-dimensional task when the fingertip is within the finger holder. The outcomes indicate that the user fingertip sensitivity increases even when the finger is placed within a holder. We next perform force learning tasks in one- and two-dimensional space. Our proposed method that combines haptic feedback and stochastic resonance is compared with the method in which only haptic feedback is provided to the user in force leaning tasks. Results obtained using the proposed method indicate that the performance outcome of the proposed method is higher than that of the comparison method. This study demonstrates the potential of the proposed method for motor learning tasks.

A Robust Controller with Online Authority Transformation for Dual User Haptic Training System

A Robust Controller with Online Authority Transformation for Dual User Haptic Training System

Control of Dual-User Haptic Training System With Online Authority Adjustment: An Observer-Based Adaptive Robust Scheme

The design problem for the control a dual-user haptic surgical training system is studied in this article. The system allows the trainee to perform the task on a virtual environment, while the trainer is able to interfere in the operation and correct probable mistakes made by the trainee. The proposed methodology allows the trainer to transfer the task authority to or from the trainee in real time. The robust adaptive nature of the controller ensures position tracking. The stability of the closed-loop system is analyzed using the input-to-output stability approach and the small-gain theorem. Simulation and experimental results are presented to validate the effectiveness of the proposed control scheme.

A force reflection robust control scheme with online authority adjustment for dual user haptic system

Abstract This article aims at developing a control structure with online authority adjustment for a dual-user haptic training system. In the considered system, the trainer and the trainee are given the facility to cooperatively conduct the surgical operation. The task dominance is automatically adjusted based on the task performance of the trainee with respect to the trainer. To that effect, the average norm of position error between the trainer and the trainee is calculated in a sliding window and the relative task dominance is assigned to the operators accordingly. Moreover, a robust controller is developed to satisfy the requirement of position tracking. The stability analysis based on the input-to-state stability (ISS) methodology is reported. Experimental results demonstrate the effectiveness of the proposed control approach.

Control Synthesis and ISS Stability Analysis of a Dual-User Haptic Training System Based on S-Shaped Function

The controller design and stability analysis of a dual user training haptic system is studied. Most of the previously proposed control methodologies for this system have not simultaneously considered special requirements of surgery training and stability analysis of the nonlinear closed-loop system which is the objective of this paper. In the proposed training approach, the trainee is allowed to freely experience the task and be corrected as needed, while the trainer maintains the task dominance. A special S-shaped function is suggested to generate the corrective force according to the magnitude of motion error between the trainer and the trainee. The closed-loop stability of the system is analyzed considering the nonlinearity of the system components using the Input-to-State Stability approach. Simulation and experimental results show the effectiveness of the proposed approach.

A fine motor skill training system using multi-fingered haptic interface robot

This paper focuses on a haptic training system for fine motor skills using multiple fingers. To transfer skills involving such fine motor tasks, instruction on how to move the fingers and use fingertip forces is essential. In this paper, we propose an optimal method for transmitting knowledge regarding fingertip forces from trainer to trainee; we then construct a haptic training system based on the proposed method. The resulting system conveys knowledge of fingertip forces and positions in three-dimensional space by combining an image display system with a five-fingered haptic interface robot capable of alternating force presentation. Finally, we describe several experiments carried out to optimize and evaluate the performance of the proposed method.

108 生体内管挿入のための直動形ハップティックトレーニング装置(OS5-2 ロボティクス・メカトロニクス(生体,人間))

108 生体内管挿入のための直動形ハップティックトレーニング装置(OS5-2 ロボティクス・メカトロニクス(生体,人間))

A Realization of Haptic Training System by Multilateral Control

In recent years, the realization of a haptic system has been desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of the analysis of the interaction between a robot and the environment required for stable contact operation, an observation method of the reaction force from the environment, and the architecture of a bilateral control system are absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, a haptic training system is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended, and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. The scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. The proposed training system based on multilateral control will be a fundamental technology for the evolution of haptic devices

339 触わる解剖訓練システムの開発と効用

バーチャルリアリティ・ハプティック技術を生体工学教育に用いれば, 触わる疑似体験により対象臓器の機能と構造への理解が深まるはずである。また, 医学教育に導入すれば, 早期に触診を体感させることが可能になり, また臨床訓練に導入すれば, 若手医師がこれまでより高い練度の触診技術をもって患者に接することが可能になる。また, 教育解剖のみならず司法解剖や病理解剖のための訓練の高度化にも役立つ。ここでは, ユーザは見るだけでなく, 触れて感じることのできる医学, 生体工学教育用システムの開発について展望する。