12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.最新文献_第2页

Deformation resistance in soft tissue cutting: a parametric study 软组织切割中的变形抗力:参数化研究

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287216

T. Chanthasopeephan, J. Desai, A. Lau

{"title":"Deformation resistance in soft tissue cutting: a parametric study","authors":"T. Chanthasopeephan, J. Desai, A. Lau","doi":"10.1109/HAPTIC.2004.1287216","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287216","url":null,"abstract":"Characterizing and modeling of soft tissue deformation during cutting is important for developing a reality based haptic interaction model for surgical training and simulation. In this study, soft tissue cutting experiments were performed (ex-vivo) while monitoring the cutting forces and blade displacement for various cutting speeds (ranging from 0.1cm/sec-2.54cm/sec) and cutting angles (for 0/spl deg/ and 45/spl deg/ cutting angle). The measured force-displacement curves in all cases exhibit a characteristic pattern: repeating units formed by a segment of linear loading (deformation of tissue) and immediately followed by a segment of sudden unloading (localized crack extension in the tissue). This paper addresses the characterization of the deformation resistance during the deformation segment. The variation of this deformation resistance with cutting parameters is also determined. The deformation resistance to the cutting blade was quantified via a quantity designed as the local effective modulus (LEM) of the tissue. For a given cutting speed, the deformation resistance decreases as the cutting angle is varied from 0/spl deg/ to 45/spl deg/. For each cutting angle, the deformation resistance decreases with cutting speed. The variation of deformation resistance versus cutting speed is linear at 0/spl deg/ cutting angle and is nonlinear at 45/spl deg/ cutting angle.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129017641","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: 7

Haptic feedback improves manual excitation of a sprung mass 触觉反馈改进了弹簧质量的手动激励

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287197

F. Huang, R. Gillespie, A. Kuo

{"title":"Haptic feedback improves manual excitation of a sprung mass","authors":"F. Huang, R. Gillespie, A. Kuo","doi":"10.1109/HAPTIC.2004.1287197","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287197","url":null,"abstract":"In this paper, we present an experiment in which human subjects were asked to manually excite a virtual sprung mass into resonance under various feedback conditions: visual, haptic or visual and haptic combined. We are interested in comparing the value of these feedback conditions in terms of their influence on the achievable performance in a dynamic task such as exciting a resonant mechanical system. From our human subject experiment (n=10), we found that with haptic feedback alone, subjects successfully excited the sprung mass into resonance. For the particular case of /spl omega//sub n/ = 7 rad/s, subjects demonstrated significantly larger differences between the observed and expected frequency distribution under vision-only (paired t-test: p=0.034) and haptics-only feedback conditions (paired t-test: p=0.021), as compared to combined vision with haptic feedback. Variability of key marker locations of input behavior were also significantly lower with both feedback channels than with either alone (paired t-tests: p<.0002). Our results show that haptic feedback can augment vision to produce significant improvements in the control of a dynamic system.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116717599","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

Comparison of human haptic size discrimination performance in simulated environments with varying levels of force and stiffness 在不同强度和刚度的模拟环境中人类触觉大小识别性能的比较

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287193

G. Upperman, Atsushi Suzuki, M. O'Malley

引用次数: 9

Evaluation of pseudo-haptic feedback for simulating torque: a comparison between isometric and elastic input devices 评估模拟扭矩的伪触觉反馈:等距和弹性输入装置之间的比较

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287199

Alexis Paljic, Jean-Marie Burkhardt, S. Coquillart

引用次数: 45

A perceptual study on haptic rendering of surface topography when both surface height and stiffness vary 表面高度和刚度变化时表面形貌触觉渲染的感性研究

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287188

L. Walker, H. Tan

{"title":"A perceptual study on haptic rendering of surface topography when both surface height and stiffness vary","authors":"L. Walker, H. Tan","doi":"10.1109/HAPTIC.2004.1287188","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287188","url":null,"abstract":"This study is concerned with the distorted perception of surface topography when both surface height and surface stiffness vary. Three psychophysical experiments were conducted using virtual surfaces rendered with a force-feedback device. In Exp. 1, we found that the threshold for detecting a height difference between two adjacent planes was quite small (0.17-0.63 mm) and decreased as surface stiffness increased (0.4-1.0 N/mm). In Exp. II, we tested our force constancy hypothesis which stated that users maintained constant penetration forces while exploring haptic virtual surfaces. Data collected during lateral stroking of surfaces of varying stiffness supported this hypothesis. In Exp. III, subjects stroked two surfaces with a surface height difference of 2 mm (well above the thresholds obtained in Exp. I) and with varying stiffness values. Our results showed that the relative stiffness of the two surfaces dramatically affected subjects' ability to discriminate the height of these surfaces. Our findings underscore the importance of understanding the interplay of haptic rendering parameters. Future work will focus on the development of compensation rules for ensuring perceptual accuracy of haptic virtual environments.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130951177","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: 22

Haptic rendering of rigid body collisions 刚体碰撞的触觉渲染

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287171

D. Constantinescu, S. Salcudean, E. Croft

引用次数: 14

Toward event-based haptics: rendering contact using open-loop force pulses 面向基于事件的触觉:使用开环力脉冲渲染接触

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287174

Jesse D. Hwang, Michael D. Williams, G. Niemeyer

{"title":"Toward event-based haptics: rendering contact using open-loop force pulses","authors":"Jesse D. Hwang, Michael D. Williams, G. Niemeyer","doi":"10.1109/HAPTIC.2004.1287174","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287174","url":null,"abstract":"An event-based method is proposed to improve realism in haptic displays. Many interesting interactions, for example tapping on a stiff environment, are characterized by ringing and high-frequency force signals. Traditional closed loop controllers, however, do not generate much information between 300 Hz and 1 kHz, to which human users are very sensitive. We propose brief open-loop playback at these frequencies, triggered by appropriate events. As a first step in rendering contact with stiff virtual surfaces, we apply short force pulses that neutralize momentum as quickly as possible and bring the haptic device to rest. Experiments verify shorter penetration depths and higher effective stiffness compared to those of traditional displays. The pulses also provide high-frequency signals and improve the user's sense of touch. Event-based playback presents a substantial departure from traditional approaches, as high frequency forces are generated separately from low-frequency feedback. These forces are computed as functions of the contact event and conditions instead of the user's instantaneous state.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115368256","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: 50

Extending the friction cone algorithm for arbitrary polygon based haptic objects 扩展了基于任意多边形触觉对象的摩擦锥算法

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287201

N. Melder, W. Harwin

引用次数: 36

Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback 传感器/执行器不对称的遥操作:部分力反馈的任务性能

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287186

Wagahta Semere, Masaya Kitagawa, A. Okamura

{"title":"Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback","authors":"Wagahta Semere, Masaya Kitagawa, A. Okamura","doi":"10.1109/HAPTIC.2004.1287186","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287186","url":null,"abstract":"For practical application of force feedback in robot-assisted surgical systems, it may not be possible to match the number of degrees of freedom of position sensing and control with the degrees of freedom of force sensing and feedback. The goal of this experimental study is to determine the effect of such sensor/actuator asymmetry during bilateral telemanipulation. We examined the performance of two tool-based teleoperated tasks: (1) a task to push a cup through a series of poses and (2) a blunt dissection task using phantom tissues. Three different force feedback conditions were applied to a 3D teleoperation system: (1) 3D force feedback, (2) force feedback without the axial forces measured on the slave tool, and (3) no force feedback. The tasks were also performed manually using a hand-held stylus. Results show that the absence of measured axial forces does not create a statistically significant difference in the level of applied forces, in comparison with complete 3D force feedback. In addition, this partial force feedback is a significant improvement over teleoperation with no force feedback.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114967814","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: 56

Development of a tactile vest 触觉背心的研制

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. Pub Date : 2004-03-27 DOI: 10.1109/HAPTIC.2004.1287181

L. Jones, M. Nakamura, B. Lockyer

引用次数: 96