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2010 IEEE Haptics Symposium最新文献

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Physically-based analytical modelling of deformable haptic environments 基于物理的可变形触觉环境的分析建模
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444618
Kevin C. Walker, David W. L. Wang
{"title":"Physically-based analytical modelling of deformable haptic environments","authors":"Kevin C. Walker, David W. L. Wang","doi":"10.1109/HAPTIC.2010.5444618","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444618","url":null,"abstract":"A new modelling technique for deformable haptic virtual environments is presented. Using analytical results from classical continuum mechanics, the physically-based deformation of an infinite elastic half-space is computed. The surface is haptically rendered in a direct manner, eliminating the traditional surface contact proxy model. The new model manages to combine an analytical surface representation with a physically-based modelling paradigm, allowing the simulation to run quickly without sacrificing accuracy. Such models exact models for simple geometries and good local approximations for more complicated structures. Experimental results for sliding interactions on an infinite-half space are presented comparing a mass spring network with the new analytical technique.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129941433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Towards physics-based interactive simulation of electrocautery procedures using PhysX 利用PhysX实现基于物理的电灼过程交互模拟
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444609
Zhonghua Lu, G. Sankaranarayanan, Dhanannjay Deo, Dingfang Chen, S. De
{"title":"Towards physics-based interactive simulation of electrocautery procedures using PhysX","authors":"Zhonghua Lu, G. Sankaranarayanan, Dhanannjay Deo, Dingfang Chen, S. De","doi":"10.1109/HAPTIC.2010.5444609","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444609","url":null,"abstract":"Haptic enabled virtual reality surgical simulators are increasingly replacing more traditional training tools in teaching hospitals. Development of these simulators may be greatly facilitated using physics libraries such as NVIDIA's PhysX. While volumetric models of soft bodies may be easily generated and simulated using such engines, it is not straightforward to develop complex surgical tasks such as surgical cutting and hence novel algorithms are necessary. Electrocautery is a tissue cutting process used in surgery to burn away soft tissues by localized heating using a specialized probe. Unlike typical surgical cutting with sharp instruments, the electrocautery process depends upon the duration of the tool tissue contact and the rate of heat conduction. The simulation of electrocautery depends on understanding the physics of heat conduction as well as empirical measurements of temperature in the tissue. In this paper we report a physics-based paradigm for the simulation of electrocautery procedures that can directly work on volumetric objects. Based on the solution characteristics of the conduction equation and empirical observations using a thermal imaging camera, we manipulate only the tetrahedral mesh vertices that are inside a sphere of influence whose centre is located at the tip of the electrocautery tool and which expands as a function of time. A 3D orthogonal plane is used to split the tetrahedral mesh vertices along the three Cartesian directions. Examples are provided from a realistic surgical simulation environment.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123428112","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
A preliminary experimental study on haptic teleoperation of mobile robot with variable force feedback gain 可变力反馈增益移动机器人触觉遥操作的初步实验研究
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444649
I. Farkhatdinov, J. Ryu, J. An
{"title":"A preliminary experimental study on haptic teleoperation of mobile robot with variable force feedback gain","authors":"I. Farkhatdinov, J. Ryu, J. An","doi":"10.1109/HAPTIC.2010.5444649","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444649","url":null,"abstract":"In this paper, new force feedback rendering scheme for mobile robot teleoperation is presented. Previous research indicated the problem of the low quality of mobile robot's motion control during the teleoperation with feedback force based on obstacle range information. Human-operator's commands were distorted by the feedback force, as a result, mobile robot could not follow human-operator's intention. To solve this problem, a new force rendering approach with variable feedback gain is proposed. Force feedback gain is variable based on measured distances to the obstacle and derivatives of the distances. Simulation and experimental study showed that the variable haptic feedback improves the quality of mobile robot teleoperation. variable feedback force improved the quality of mobile robot teleoperation by making robot's trajectory smooth and accurate.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129025783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 60
Haptic gait retraining for knee osteoarthritis treatment 触觉步态再训练治疗膝骨关节炎
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444625
P. Shull, Kristen L. Lurie, M. Shin, T. Besier, M. Cutkosky
{"title":"Haptic gait retraining for knee osteoarthritis treatment","authors":"P. Shull, Kristen L. Lurie, M. Shin, T. Besier, M. Cutkosky","doi":"10.1109/HAPTIC.2010.5444625","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444625","url":null,"abstract":"In this paper we introduce haptic gait retraining as a new method for treating early stage medial compartment knee osteoarthritis and for reducing risk of the disease in individuals who may be susceptible. The hardware and software for implementation are presented including rotational skin stretch and vibration haptic devices used to inform subjects of alterations in gait movements. We also present a method based on real-time motion analysis for predicting new subject-specific gaits tailored to change knee joint loading. This approach uses correlation data between gait parameters and knee loading as well as a localized linearization technique to compute a final combined-parameter gait with minimum change from the subject's original, unaltered gait. Finally, we validate the haptic gait retraining system with a user experiment and show that, for the duration of the experiment, the user is able to positively change knee joint loading to approximately the same degree as HTO surgery.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129540078","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 47
Modeling pneumatic bubble displacements with membrane theory 用膜理论模拟气动气泡位移
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444634
L. Kratchman, Jian Wen, M. Michener, R. Gillespie
{"title":"Modeling pneumatic bubble displacements with membrane theory","authors":"L. Kratchman, Jian Wen, M. Michener, R. Gillespie","doi":"10.1109/HAPTIC.2010.5444634","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444634","url":null,"abstract":"We have fabricated a small array of pneumatically actuated bubbles intended as a tactile stimulator that can be worn on the fingertip. While device operation is quite promising, we notice that the perceptibility of stimuli is a strong function of how much force a user applies. We surmise that membrane deflection is affected not only by valve-controlled pressure but by finger-applied pressure as well. With the eventual aim of developing an analytical model of membrane deflection as a function of multiple types of load, applied from both sides of the membrane and including varying contact area between membrane substrate and skin, we are developing expanded membrane equilibrium equations. In this paper, we present equilibrium equations suitable for obtaining the displacement of a thin, circular membrane of polydimethylsiloxane (PDMS) subjected to a uniform pressure on one side. A comparison of numerical solutions to an analytic solution available for linearized equations confirms operation of the numerical solver and singularity handling. Initial results from measurements made under an inverted microscope are also presented and compared to theory.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"60 S10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120838734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Dynamic switching control of haptic transmission direction in remote control system 遥控系统中触觉传递方向的动态切换控制
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444655
Tatsuya Watanabe, Y. Ishibashi, Norishige Fukushima, S. Sugawara
{"title":"Dynamic switching control of haptic transmission direction in remote control system","authors":"Tatsuya Watanabe, Y. Ishibashi, Norishige Fukushima, S. Sugawara","doi":"10.1109/HAPTIC.2010.5444655","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444655","url":null,"abstract":"This paper deals with switching control which dynamically switches the haptic transmission direction (one-way or two-way) according to network latency in a remote control system. The system controls a haptic interface device at a remote place with another haptic interface device while watching video. We propose automatic selection of switching time according to the contents of work. This proposal selects the optimal switching time automatically by identifying the contents of work when the haptic transmission direction is switched. In this paper, we also demonstrate the effectiveness of the proposal by subjective assessment for work of writing multiple characters and work of drawing a figure without lifting a pen from a sheet.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114080722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Characterization and simulation of tactile sensors 触觉传感器的特性与仿真
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444654
Zachary A. Pezzementi, Erica Jantho, Lucas Estrade, Gregory Hager
{"title":"Characterization and simulation of tactile sensors","authors":"Zachary A. Pezzementi, Erica Jantho, Lucas Estrade, Gregory Hager","doi":"10.1109/HAPTIC.2010.5444654","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444654","url":null,"abstract":"The response of a tactile sensor system (consisting of the sensors themselves and the material covering them) was characterized via robotic experiments. A point spread function model of this response was developed for typical interaction forces, allowing the use of graphics and imaging techniques respectively for simulating and interpreting tactile sensor readings. This model was implemented in software as a generic artificial tactile sensor simulator, and its accuracy at approximating the output of our test system is demonstrated.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"161 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122138637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 21
Torso-based tactile feedback system for patients with balance disorders 基于躯干的触觉反馈系统用于平衡障碍患者
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444630
Steven W. Wu, R.E. Fan, Christopher R. Wottawa, E. Fowler, J. Bisley, W. Grundfest, M. Culjat
{"title":"Torso-based tactile feedback system for patients with balance disorders","authors":"Steven W. Wu, R.E. Fan, Christopher R. Wottawa, E. Fowler, J. Bisley, W. Grundfest, M. Culjat","doi":"10.1109/HAPTIC.2010.5444630","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444630","url":null,"abstract":"A tactile feedback vest was developed to provide sensory information to patients with balance disorders. The system was designed to detect levels of imbalance that are imperceptible to patients with balance deficit, and to provide intuitive and appreciable sensory feedback that allows for rapid balance correction. Polydimethylsiloxane (PDMS) based pneumatic actuators were clustered on the ventral, dorsal, left and right surfaces of the tactile vest to provide multi-directional sensory feedback. Two biaxial accelerometers were mounted near the shoulder to measure linear and angular acceleration of the upper torso, and a system controller that regulates communication between the sensors and actuators was developed. Actuator deflection was characterized to optimize tactile feedback. Average deflections of 2.6 mm and 7.1 mm were recorded with input pressures of 1.6 psi and 4.0 psi, respectively. In future studies, human perceptual testing will be performed to optimize the system for clinical use.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"os-46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127785717","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
Friction measurements on a Large Area TPaD 大面积TPaD的摩擦测量
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444636
N. D. Marchuk, J. Colgate, M. Peshkin
{"title":"Friction measurements on a Large Area TPaD","authors":"N. D. Marchuk, J. Colgate, M. Peshkin","doi":"10.1109/HAPTIC.2010.5444636","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444636","url":null,"abstract":"We describe a variable friction haptic display on a large area of glass, and characterize its performance. The Large Area Tactile Pattern Display (LATPaD) uses modulation of surface friction created by ultrasonic vibration, as in previous smaller devices [8]. Unlike those, the LATPaD does not operate in the lowest resonant mode. As a consequence, the vibration amplitude varies across the surface of the LATPaD (being zero at nodal lines) and therefore the friction reduction effect varies spatially. In practice, the variation in friction reduction is less than might be expected, due to the finite extent of the finger pad. We measure friction over the surface for several mode shapes.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127828425","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 57
Human vs. robotic tactile sensing: Detecting lumps in soft tissue 人类与机器人触觉感应:检测软组织肿块
2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444685
J. Gwilliam, Zachary A. Pezzementi, Erica Jantho, A. Okamura, S. Hsiao
{"title":"Human vs. robotic tactile sensing: Detecting lumps in soft tissue","authors":"J. Gwilliam, Zachary A. Pezzementi, Erica Jantho, A. Okamura, S. Hsiao","doi":"10.1109/HAPTIC.2010.5444685","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444685","url":null,"abstract":"Humans can localize lumps in soft tissue using the distributed tactile feedback and processing afforded by the fingers and brain. This task becomes extremely difficult when the fingers are not in direct contact with the tissue, such as in laparoscopic or robot-assisted procedures. Tactile sensors have been proposed to characterize and detect lumps in robot-assisted palpation. In this work, we compare the performance of a capacitive tactile sensor with that of the human finger. We evaluate the response of the sensor as it pertains to robot-assisted palpation and compare the sensor performance to that of human subjects performing an equivalent task on the same set of artificial tissue models. Furthermore, we investigate the effects of various tissue parameters (lump size, lump depth, and surrounding tissue stiffness) on the performance of both the human finger and the tactile sensor. Using signal detection theory for determining tactile sensor lump detection thresholds, the tactile sensor outperforms the human finger in a palpation task.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131569123","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 78
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