Virtual Environments for Motor Fine Skills Rehabilitation with Force Feedback

2017 ◽  
pp. 94-105 ◽  
Author(s):  
Víctor H. Andaluz ◽  
Cartagena Patricio ◽  
Naranjo José ◽  
Agreda José ◽  
López Shirley
Keyword(s):  
Virtual Environments ◽  
Force Feedback

Integrating a Grasp Exoskeleton Into a String-Based Interface for Human-Scale Interactions

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Rasul Fesharakifard ◽  
Maryam Khalili ◽  
Laure Leroy ◽  
Alexis Paljic ◽  
Philippe Fuchs
Keyword(s):  
Virtual Environments ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Control Method ◽  
Hybrid Control ◽  
Force Sensor ◽  
Virtual Objects ◽  
Rotary Encoder ◽  
Human Scale ◽  
Novel Design

A grasp exoskeleton actuated by a string-based platform is proposed to provide the force feedback for a user’s hand in human-scale virtual environments. The user of this interface accedes to seven active degrees of freedom in interaction with virtual objects, which comprises three degrees of translation, three degrees of rotation, and one degree of grasping. The exoskeleton has a light and ergonomic structure and provides the grasp gesture for five fingers. The actuation of the exoskeleton is performed by eight strings that are the parallel arms of the platform. Each string is connected to a block of motor, rotary encoder, and force sensor with a novel design to create the necessary force and precision for the interface. A hybrid control method based on the string’s tension measured by the force sensor is developed to resolve the ordinary problems of string-based interface. The blocks could be moved on a cubic frame around the virtual environment. Finally the results of preliminary experimentation of interface are presented to show its practical characteristics. Also the interface is mounted on an automotive model to demonstrate its industrial adaptability.

MIVAS: A Multi-Modal Immersive Virtual Assembly System

2004 ◽  
Author(s):  
Huagen Wan ◽  
Shuming Gao ◽  
Qunsheng Peng ◽  
Guozhong Dai ◽  
Fengjun Zhang
Keyword(s):  
Virtual Environments ◽  
Large Scale ◽  
Force Feedback ◽  
User Interaction ◽  
Virtual Assembly ◽  
Research Area ◽  
Optimization Techniques ◽  
Assembly System ◽  
Assembly Operations ◽  
Assembly Constraints

Evaluation and planning of assembly processes in virtual environments have become an active research area in engineering community. However, planning of complex assemblies in virtual environments, especially large-scale virtual environments, is still hindered by limitations like unnatural user interaction, insufficient frame rates, and deficiencies in processing of assembly constraints. In this paper, we present MIVAS, a Multi-modal Immersive Virtual Assembly System. By viewing the virtual assembly system as a finite state machine, we incorporate tracked devices, force feedback dataglove, voice commands, human sounds, fully immersive 4-sided CAVE, together with optimization techniques for both complex assembly models and assembly operations to provide for engineers an intuitive and natural way of assembly evaluation and planning. Testing scenarios on disassembling different components of an intelligent hydraulic excavator are described. Special attention is paid upon such technical issues as interface between CAD packages and the CAVE virtual environment, natural and intuitive user interaction including realistic virtual hand interaction and force feedback, intelligent navigation for assembly operations, and real-time display of complex assemblies.

scholarly journals Haptic Virtual Environments for Blind People: Exploratory Experiments with Two Devices

1999 ◽  
Vol 4 (1) ◽  
pp. 8-17 ◽  
Author(s):  
G Jansson ◽  
H Petrie ◽  
C Colwell ◽  
D. Kornbrot ◽  
J. Fänger ◽  
...  
Keyword(s):  
Virtual Environments ◽  
Virtual World ◽  
Force Feedback ◽  
Virtual Object ◽  
Blind People ◽  
Haptic Devices ◽  
Virtual Objects ◽  
3D Objects

This paper is a fusion of two independent studies investigating related problems concerning the use of haptic virtual environments for blind people: a study in Sweden using a PHANToM 1.5 A and one in the U.K. using an Impulse Engine 3000. In general, the use of such devices is a most interesting option to provide blind people with information about representations of the 3D world, but the restriction at each moment to only one point of contact between observer and virtual object might decrease their effectiveness. The studies investigated the perception of virtual textures, the identification of virtual objects and the perception of their size and angles. Both sighted (blindfolded in one study) and blind people served as participants. It was found (1) that the PHANToM can effectively render textures in the form of sandpapers and simple 3D geometric forms and (2) that the Impulse Engine can effectively render textures consisting of grooved surfaces, as well as 3D objects, properties of which were, however, judged with some over- or underestimation. When blind and sighted participants' performance was compared differences were found that deserves further attention. In general, the haptic devices studied have demonstrated the great potential of force feedback devices in rendering relatively simple environments, in spite of the restricted ways they allow for exploring the virtual world. The results highly motivate further studies of their effectiveness, especially in more complex contexts.

scholarly journals A Review of Training and Guidance Systems in Medical Surgery

2020 ◽  
Vol 10 (17) ◽  
pp. 5752
Author(s):  
David Escobar-Castillejos ◽  
Julieta Noguez ◽  
Fernando Bello ◽  
Luis Neri ◽  
Alejandra J. Magana ◽  
...  
Keyword(s):  
Virtual Environments ◽  
Force Feedback ◽  
State Of The Art ◽  
Medical Surgery ◽  
Current Trends ◽  
Learning Evaluation ◽  
Feedback Learning ◽  
Visual Aid ◽  
Future Work ◽  
And Storage

In this paper, a map of the state of the art of recent medical simulators that provide evaluation and guidance for surgical procedures is performed. The systems are reviewed and compared from the viewpoint of the used technology, force feedback, learning evaluation, didactic and visual aid, guidance, data collection and storage, and type of solution (commercial or non-commercial). The works’ assessment was made to identify if—(1) current applications can provide assistance and track performance in training, and (2) virtual environments are more suitable for practicing than physical applications. Automatic analysis of the papers was performed to minimize subjective bias. It was found that some works limit themselves to recording the session data to evaluate them internally, while others assess it and provide immediate user feedback. However, it was found that few works are currently implementing guidance, aid during sessions, and assessment. Current trends suggest that the evaluation process’s automation could reduce the workload of experts and let them focus on improving the curriculum covered in medical education. Lastly, this paper also draws several conclusions, observations per area, and suggestions for future work.

Magnetorheological Fluid Brake for a Force Feedback Glove for Virtual Environments

2005 ◽  
Author(s):  
Jonathan Blake ◽  
Hakan Gurocak
Keyword(s):  
Virtual Environments ◽  
Force Feedback ◽  
Index Finger ◽  
Haptic Interface ◽  
Test Results ◽  
Test Procedures ◽  
Mr Fluid ◽  
Output Torque ◽  
Braking Torque ◽  
Human Finger

The research and development of a Magnetorheological (MR) fluid brake for use in a force feedback glove is presented. The glove is a haptic interface for a virtual reality (VR) environment. The glove implements the MR fluid brakes to restrict motion of the VR user’s fingers. It is controlled by an input current and produces a corresponding output torque. The torque of the MR fluid brake is equivalent to the continuous torque exerted by a typical human index finger. Two sizes of brakes were developed to control the joints of the thumb, index, and middle fingers. The paper presents background and design details of implementing the MR fluid. The prototype designs of the MR fluid brakes are then introduced. Test procedures and results of the braking torque and response time are presented. Lastly, the implementation of the brakes into a force feedback glove is briefly discussed. Test results show that the MR fluid brake is capable of restricting the motion of a human finger.

Finger Mechanism of a Haptic Glove for Force Feedback in Virtual Environments

2007 ◽  
Author(s):  
Conrad Bullion ◽  
Goktug A. Dazkir ◽  
Hakan Gurocak
Keyword(s):  
Virtual Reality ◽  
Virtual Environments ◽  
Force Feedback ◽  
Bottom Surface ◽  
Force Analysis ◽  
Ongoing Research ◽  
Virtual Objects ◽  
Simulated Environment ◽  
Grasping Forces ◽  
Distributed Forces

In this paper we present details of a finger mechanism designed as part of an ongoing research on a force feedback glove. The glove will be used in virtual reality applications where it will provide force feedback to the user as he grasps virtual objects. Haptic (touch and force) feedback is an essential component to make the simulated environment feel more realistic to the user. The design employs an innovative mechanism that wraps around each finger. Each mechanism is controlled by one cable. By controlling the tension on the cable and the displacement of the cable, we can control the amount of force applied to the user’s finger at any given position of the mechanism. The glove can provide distributed forces at the bottom surface of each finger while reducing the number of actuators and sensors. First kinematic and force analysis of the mechanism along with experimental verifications are presented. Following description of an experiment to determine grasping forces, we conclude with an overview of the next steps in this research.

Providing force feedback in virtual environments

1995 ◽  
Vol 15 (5) ◽  
pp. 22-30 ◽  
Author(s):  
K. Hirota ◽  
M. Hirose
Keyword(s):  
Virtual Environments ◽  
Force Feedback

scholarly journals Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique

2015 ◽  
Vol 15 (4) ◽  
Author(s):  
Ryan A. Pavlik ◽  
Judy M. Vance
Keyword(s):  
Virtual Environments ◽  
Collision Detection ◽  
Rate Control ◽  
Force Feedback ◽  
Position Control ◽  
Restoring Force ◽  
End Effector ◽  
Base Position ◽  
Bubble Interaction ◽  
Control Devices

Haptic force-feedback can provide useful cues to users of virtual environments. Body-based haptic devices are portable but the more commonly used ground-based devices have workspaces that are limited by their physical grounding to a single base position and their operation as purely position-control devices. The “bubble technique” has recently been presented as one method of expanding a user's haptic workspace. The bubble technique is a hybrid position-rate control system in which a volume, or “bubble,” is defined entirely within the physical workspace of the haptic device. When the device's end effector is within this bubble, interaction is through position control. When the end effector moves outside this volume, an elastic restoring force is rendered, and a rate is applied that moves the virtual accessible workspace. Publications have described the use of the bubble technique for point-based touching tasks. However, when this technique is applied to simulations where the user is grasping virtual objects with part-to-part collision detection, unforeseen interaction problems surface. Methods of addressing these challenges are introduced, along with discussion of their implementation and an informal investigation.

Sign in / Sign up

Export Citation Format

Share Document