Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface

2021 ◽  
Author(s):  
Linda Feenstra ◽  
Umberto Scarcia ◽  
Riccardo Zanella ◽  
Roberto Meattini ◽  
Davide Chiaravalli ◽  
...  
Keyword(s):  
Virtual Environment ◽  
Experimental Testing ◽  
Haptic Device ◽  
Twisted String

scholarly journals Design of Telerobotic Drilling Control System with Haptic Feedback

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
Faraz Shah ◽  
Ilia G. Polushin
Keyword(s):  
Virtual Environment ◽  
Haptic Feedback ◽  
Drill String ◽  
Haptic Device ◽  
Human Operator ◽  
Drilling Process ◽  
Estimation Algorithms ◽  
Servo Controller ◽  
Drive Systems ◽  
Penetration Velocity

The paper deals with the design of control algorithms for virtual reality based telerobotic system with haptic feedback that allows for the remote control of the vertical drilling operation. The human operator controls the vertical penetration velocity using a haptic device while simultaneously receiving the haptic feedback from the locally implemented virtual environment. The virtual environment is rendered as a virtual spring with stiffness updated based on the estimate of the stiffness of the rock currently being cut. Based on the existing mathematical models of drill string/drive systems and rock cutting/penetration process, a robust servo controller is designed which guarantees the tracking of the reference vertical penetration velocity of the drill bit. A scheme for on-line estimation of the rock intrinsic specific energy is implemented. Simulations of the proposed control and parameter estimation algorithms have been conducted; consequently, the overall telerobotic drilling system with a human operator controlling the process using PHANTOM Omni haptic device is tested experimentally, where the drilling process is simulated in real time in virtual environment.

Maximum Virtual Stiffness Distribution Analysis and Measurement for Haptic Device

2009 ◽  
Author(s):  
Xiaowei Dai ◽  
Yuru Zhang ◽  
Dangxiao Wang
Keyword(s):  
Virtual Environment ◽  
Joint Space ◽  
Performance Measure ◽  
Haptic Device ◽  
Distribution Analysis ◽  
Haptic Interaction ◽  
Position And Orientation ◽  
Virtual Stiffness ◽  
Eigenvalue And Eigenvector ◽  
Stiffness Distribution

Maximum virtual stiffness is a critical performance measure for haptic devices. Stable haptic interaction is necessary for realistic feeling of virtual environment. The virtual environment is determined by the application and device. To ensure the stable haptic interaction, the virtual environment must be suitable for the device. Therefore, the virtual stiffness should not be greater than the minimum value of maximum virtual stiffness that a haptic device can stably render in the workspace. This paper proposes a method, utilizing the eigenvalue and eigenvector of stiffness matrix in joint space, to analyze and measure the maximum virtual stiffness distribution in the work space of a haptic device. Therefore, for a given haptic device, the maximum virtual stiffness at each position and orientation can be forecasted by this method. A new sufficient condition for haptic stability is also presented in the view of driven motor in this paper. A series experiments validate the effectiveness of this method.

Haptic and Visual Feedback Technology for Upper-Limb Disability Assessment

2016 ◽  
Author(s):  
Norali Pernalete ◽  
Amar Raheja ◽  
Stephanie Carey
Keyword(s):  
Virtual Environment ◽  
Upper Limb ◽  
Functional Independence Measure ◽  
Movement Pattern ◽  
Functional Independence ◽  
Video Data ◽  
Haptic Device ◽  
Assessment Procedure ◽  
Therapy Sessions

In this paper, we discuss the possibility to determine assessment metrics for eye-hand coordination and upper-limb disability therapy, using a mapping between a robotic haptic device to a virtual environment and a training algorithm based on Complex Valued Neural Networks that will calculate how close a set movement pattern is in relationship with that traced by a healthy individual. Most of the current robotic systems’ therapy relies on the patient’s performance on standardized clinical tests such as the functional independence measure (FIM), and the upper limb subsection of the Fugl-Meyer (FM) scales. These systems don’t have other standardized metrics for assessment purposes. There is a need to establish a more intelligent and tailored therapy that could be implemented for patients to use at home in between therapy sessions, or in the long term. This therapy should be based on performance data gathered by the robotic/computer system that will provide an assessment procedure with improved objectivity and precision. A set of complex and movement demanding virtual environments, representing various levels of difficulty labyrinths was developed in a virtual environment. The participants were instructed to use a haptic device (Omni) to follow the trajectories. This was completed while video data were collected using a Vicon motion capture system. Readings of traced trajectories, time, and upper limb motions are recorded for further analysis.

scholarly journals Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

2007 ◽  
Vol 4 (4) ◽  
pp. 157-168
Author(s):  
Juan Manuel Ibarra-Zannatha ◽  
Claudia Marmolejo-Rivas ◽  
Manuel Ferre-Pérez ◽  
Rafael Aracil-Santonja ◽  
Salvador Cobos-Guzmán
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Control Algorithm ◽  
Haptic Device ◽  
Deformable Objects ◽  
Bilateral Teleoperation ◽  
Bilateral Control ◽  
Deformable Object ◽  
Detection Algorithms ◽  
Teleoperation System

The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

Development of Haptic-Enabled Virtual Reality Applications for Engineering, Medicine and Art

2015 ◽  
Author(s):  
Hugo I. Medellín-Castillo ◽  
Germánico González-Badillo ◽  
Eder Govea ◽  
Raquel Espinosa-Castañeda ◽  
Enrique Gallegos
Keyword(s):  
Virtual Reality ◽  
Virtual Environment ◽  
Force Feedback ◽  
Research Work ◽  
Three Dimensional ◽  
Haptic Device ◽  
The Other ◽  
Virtual Objects ◽  
Other Hand ◽  
And Training

The technological growth in the last years have conducted to the development of virtual reality (VR) systems able to immerse the user into a three-dimensional (3D) virtual environment where the user can interact in real time with virtual objects. This interaction is mainly based on visualizing the virtual environment and objects. However, with the recent beginning of haptic systems, the interaction with the virtual world has been extended to also feel, touch and manipulate virtual objects. Virtual reality has been successfully used in the development of applications in different scientific areas ranging from basic sciences, social science, education and entertainment. On the other hand, the use of haptics has increased in the last decade in domains from sciences and engineering to art and entertainment. Despite many developments, there is still relatively little knowledge about the confluence of software, enabling hardware, visual and haptic representations, to enable the conditions that best provide for an immersive sensory environment to convey information about a particular subject domain. In this paper, the state of the art of the research work regarding virtual reality and haptic technologies carried out by the authors in the last years is presented. The aim is to evidence the potential use of these technologies to develop usable systems for analysis and simulation in different areas of knowledge. The development of three different systems in the areas of engineering, medicine and art is presented. In the area of engineering, a system for the planning, evaluation and training of assembly and manufacturing tasks has been developed. The system, named as HAMS (Haptic Assembly and Manufacturing System), is able to simulate assembly tasks of complex components with force feedback provided by the haptic device. On the other hand, in the area of medicine, a surgical simulator for planning and training orthognathic surgeries has been developed. The system, named as VOSS (Virtual Osteotomy Simulator System), allows the realization of virtual osteotomies with force feedback. Finally, in the area of art, an interactive cinema system for blind people has been developed. The system is able to play a 3D virtual movie for the blind user to listen to and touch by means of the haptic device. The development of these applications and the results obtained from these developments are presented and discussed in this paper.

Force control of ER fluid based haptic device in virtual environment

2007 ◽  
Author(s):  
Young-Min Han ◽  
Pil-Soon Kang ◽  
Min-Sang Seong ◽  
Seung-Bok Choi
Keyword(s):  
Virtual Environment ◽  
Force Control ◽  
Haptic Device ◽  
Er Fluid

Stability Control of Haptic Interface

2007 ◽  
Author(s):  
Jisheng Zhang ◽  
Jiting Li ◽  
Mileta M. Tomovic ◽  
Yuru Zhang
Keyword(s):  
Virtual Environment ◽  
Pid Control ◽  
Closed Loop ◽  
Force Feedback ◽  
Control Method ◽  
Stability Control ◽  
Haptic Device ◽  
System Stability ◽  
Haptic Devices ◽  
Loop Equation

Haptic devices and man-machine interaction have attracted intense research interest in recent years due to numerous potential applications, including medical, dental, military, and nuclear. One of the challenges involved with haptic devices is providing human operator realistic sensory feeling through force feedback output from the haptic device. In order to acquire adequate fidelity, the stiffness of the virtual environment must be sufficiently large. However, this is typically accompanied with vibration of the haptic device. Hence, one of the key issues related to haptic systems is to ensure system’s stability. Although some effort has been done to address this issue, this is so far an unresolved problem. This paper presents current closed-loop PID control method for achieving system stability on the example of one-degree-of-freedom haptic device. In order to identify parameters of the PID controller, the control system is first modeled and the equation of the current closed-loop PID control is formulated. Then, by generalizing the relationship between the motor output torque and the virtual force at the output end of the device, the current closed-loop equation is transferred into that of the force. In addition, the paper analyzes the robustness of PID controlled haptic device. To validate the method, three simulation experiments are performed, with spring model, damper model, and spring damper model. The results show that there is a set of PID parameters which result in stable haptic device. One of the advantages of the proposed method is that it can regulate PID parameters to fit different virtual environment. This provides a fundamental approach to improve stability of haptic systems. In addition, the proposed method can be embedded in the software.

scholarly journals User-Centered Design and Evaluation of an Upper Limb Rehabilitation System with a Virtual Environment

2021 ◽  
Vol 11 (20) ◽  
pp. 9500
Author(s):  
Monserrat Ríos-Hernández ◽  
Juan Manuel Jacinto-Villegas ◽  
Otniel Portillo-Rodríguez ◽  
Adriana Herlinda Vilchis-González
Keyword(s):  
Virtual Environment ◽  
User Experience ◽  
Upper Limb ◽  
Usability Evaluation ◽  
Haptic Device ◽  
User Centered Design ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation System ◽  
Limb Rehabilitation ◽  
User Centered

Virtual environments (VEs) and haptic devices increase patients’ motivation. Furthermore, they observe their performance during rehabilitation. However, some of these technologies present disadvantages because they do not consider therapists’ needs and experience. This research presents the development and usability evaluation of an upper limb rehabilitation system based on a user-centered design approach for patients with moderate or mild stroke that can perform active rehabilitation. The system consists of a virtual environment with four virtual scenarios and a developed haptic device with vibrotactile feedback, and it can be visualized using a monitor or a Head-Mounted Display (HMD). Two evaluations were carried out; in the first one, five therapists evaluated the system’s usability using a monitor through the System Usability Scale, the user experience with the AttrakDiff questionnaire, and the functionality with customized items. As a result of these tests, improvements were made to the system. The second evaluation was carried out by ten volunteers who evaluated the usability, user experience, and performance with a monitor and HMD. A comparison of the therapist and volunteer scores has shown an increase in the usability evaluation (from 78 to >85), the hedonic score rose from 0.6 to 2.23, the pragmatic qualities from 1.25 to 2.20, and the attractiveness from 1.3 to 2.95. Additionally, the haptic device and the VE showed no relevant difference between their performance when using a monitor or HMD. The results show that the proposed system has the characteristics to be a helpful tool for therapists and upper limb rehabilitation.

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