scholarly journals Pseudo-haptic feedback in medical teleoperation

2015 ◽  
Vol 1 (1) ◽  
pp. 160-163 ◽  
Author(s):  
Carsten Neupert ◽  
Sebastian Matich ◽  
Peter P. Pott ◽  
Christian Hatzfeld ◽  
Roland Werthschützky
Keyword(s):  
User Interface ◽  
Visual Perception ◽  
Virtual Environments ◽  
Mechanical Characteristic ◽  
Haptic Feedback ◽  
Surgical Robot ◽  
Interaction Forces ◽  
End Effector ◽  
Grasping Force ◽  
Coupling Characteristic

AbstractPseudo-haptic feedback is a haptic illusion based on a mismatch of haptic and visual perception. It is well known from applications in virtual environments. In this work, we discuss the usabiliy of the principle of pseudo-haptic feedback for teleoperation. Using pseudo-haptic feedback can ease the design of haptic medical tele-operation systems.Thereby a user’s grasping force at an isometric user interface is used to control the closing angle of an end effector of a surgical robot. To provide a realistic haptic feedback, the coupling characteristic of grasping force and end effector closing angle is changed depending on acting end effector interaction forces.With an experiment, we show the usability of pseudo-haptic feedback for discriminating compliances, comparable to the mechanical characteristic of muscles relaxed and contracted. The provided results base upon the data of 10 subjects, and 300 trails.

scholarly journals Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

Micromachines ◽  
2021 ◽  
Vol 12 (8) ◽  
pp. 870
Author(s):  
Md Rasedul Islam ◽  
Md Assad-Uz-Zaman ◽  
Brahim Brahmi ◽  
Yassine Bouteraa ◽  
Inga Wang ◽  
...  
Keyword(s):  
Upper Limb ◽  
Research Work ◽  
Human Robot Interaction ◽  
Control Technique ◽  
Upper Arm ◽  
Interaction Forces ◽  
End Effector ◽  
Upper Limb Rehabilitation ◽  
End Point ◽  
Limb Rehabilitation

The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Patients may need both kinds of exercises, depending on the type, level, and degree of impairments. This work focused on designing and developing a seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton called ‘u-Rob’ that functions as both exoskeleton and end-effector types device. Furthermore, HRI can be improved by monitoring the interaction forces between the robot and the wearer. Existing upper limb robots lack the ability to monitor interaction forces during passive rehabilitation exercises; measuring upper arm forces is also absent in the existing devices. This research work aimed to develop an innovative sensorized upper arm cuff to measure the wearer’s interaction forces in the upper arm. A PID control technique was implemented for both joint-based and end-point exercises. The experimental results validated both types of functionality of the developed robot.

A User Interface Model for Navigation in Virtual Environments

2002 ◽  
Vol 5 (5) ◽  
pp. 443-449 ◽  
Author(s):  
Márcio Serolli Pinho ◽  
Leandro Luís Dias ◽  
Carlos G. Antunes Moreira ◽  
Emmanuel González Khodjaoghlanian ◽  
Gustavo Pizzini Becker ◽  
...  
Keyword(s):  
User Interface ◽  
Virtual Environments ◽  
Interface Model

scholarly journals Elastic-Arm: Human-scale passive haptic feedback for augmenting interaction and perception in virtual environments

2015 ◽  
Author(s):  
Merwan Achibet ◽  
Adrien Girard ◽  
Anthony Talvas ◽  
Maud Marchal ◽  
Anatole Lecuyer
Keyword(s):  
Virtual Environments ◽  
Haptic Feedback ◽  
Human Scale

Modeling of Biodynamic Feedthrough in Backhoe Operation

2009 ◽  
Author(s):  
Heather C. Humphreys ◽  
Wayne J. Book ◽  
James D. Huggins
Keyword(s):  
Control System ◽  
User Interface ◽  
Haptic Feedback ◽  
Current System ◽  
Coordinated Control ◽  
Input Device ◽  
Control Performance ◽  
Meaningful Information ◽  
Potential Methods ◽  
And Control

An advanced backhoe user interface has been developed which uses coordinated control with haptic feedback. Results indicate that the coordinated control provides more intuitive operation that is easy to learn, and the haptic feedback also relays meaningful information back to the user in the form of force signals from digging forces and system limitations. However, results show that the current system has significant problems with biodynamic feedthrough, where the motion of the controlled device excites motion of the operator, resulting in undesirable forces applied to the input device and control performance degradation. This unwanted input is difficult to decouple from the intentional operator input in experiments. This research presents an investigation on the effects of biodynamic feedthrough on this particular backhoe control system, using system identification to empirically define models to represent each component. These models are used for a preliminary simulation study on potential methods for biodynamic feedthrough compensation.

New Device for Ergonomic Control of a Surgical Robot with 4 DOF Including Haptic Feedback

2013 ◽  
Author(s):  
Carsten Neupert ◽  
Florian Klug ◽  
Sebastian Matich ◽  
Andreas Kirschniak ◽  
Peter P. Pott ◽  
...  
Keyword(s):  
Haptic Feedback ◽  
Surgical Robot ◽  
New Device
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