scholarly journals An MRI Compatible Visual Force-Feedback System for the Study of Force Control Mechanics

2005 ◽  
Author(s):  
Wensheng Hou ◽  
Shan Shen ◽  
A. Sterr
Keyword(s):  
Force Control ◽  
Force Feedback ◽  
Feedback System ◽  
Visual Force Feedback

Tool Operation Based Operation Force Teaching: Extracting Force Control Strategy From Human’s Work in Virtual Environment

1996 ◽  
Author(s):  
Toshitake Tateno ◽  
Masanori Igoshi
Keyword(s):  
Mental Models ◽  
Virtual Environment ◽  
Control Strategy ◽  
Force Control ◽  
Force Feedback ◽  
Feedback System ◽  
Physical World ◽  
Qualitative Models ◽  
Mental Space ◽  
Important Objective

Abstract This paper deals with a virtual environment which is used for extracting expert’s knowledge of work and transferring the work information to a worker. The worker is either a human or a robot. Tool based work representation is convenient for both human and robots to use the data. Tool operation is also convenient to construct a force feedback system in a virtual environment. The data recorded in the virtual environment is saved as work examples in a database, and used by a worker when he wants to refer to the samples. In the virtual environment an expert shows what he wants to do. It’s not important to get a detail amount of data. The most important objective of the virtual environment is to get the expert’s knowledge on the work through the force. In this paper we propose a new virtual environment which is based on qualitative simulation. We call it Virtual Mental Space (VMS) because human mental models are said to be qualitative models about the physical world. Interactions between a human and the VMS provides explanations of what he wants to do, and make it possible to get a force which he wants to stress. The tool operation is used conveniently again to smooth the interaction.

Position and Force Control of Micromanipulatorwith Six Degrees of Freedom Using Piezoelectric Actuators

1991 ◽  
Vol 3 (1) ◽  
pp. 34-40 ◽  
Author(s):  
Toshio Fukuda ◽  
◽  
Motohiro Fujiyoshi ◽  
Fumihito Arai ◽  
Hideo Matsuura ◽  
...  
Keyword(s):  
Force Control ◽  
Fuzzy System ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Piezoelectric Actuators ◽  
Feedback System ◽  
Six Degrees Of Freedom ◽  
Variable Gain ◽  
And Control ◽  
Better Than

This paper deals with the mechanism and control of a micromanipulator with six degrees of freedom (6 D.O.F.) aimed at applications in biotechnology and microsurgery. Since operations in these fields develop rapidly and are complicated, a dexterous micromanipulation system has long been desired. This paper proposes a 6 D.O.F micromanipulator to make such work easier. The manipulator has the following features: (1) The manipulator has 6 D.O.F. The tip of this manipulator can move along three axes, and also can rotate along each axis. (2) This micromanipulator is very small and light, since it is made of PZT actuators. (3) Since it has a position and force feedback system, it can control desired poses and forces. (4) A variable gain feedback system, similar to a fuzzy system, is employed here, and hence the system performs better than a fixed gain feedback system. These technical merits will make it possible to operate the micromanipulator in much more complicated environments under a microscope.

scholarly journals Development and Testing of a Methodology for the Assessment of Acceptability of LKA Systems

Machines ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 47 ◽  
Author(s):  
Luca Salvati ◽  
Matteo d’Amore ◽  
Anita Fiorentino ◽  
Arcangelo Pellegrino ◽  
Pasquale Sena ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Operating Conditions ◽  
Experimental Methodology ◽  
Driving Safety ◽  
Steering Wheel ◽  
Human In The Loop ◽  
Automation Systems ◽  
Driving Stability ◽  
Lane Keeping

In recent years, driving simulators have been widely used by automotive manufacturers and researchers in human-in-the-loop experiments, because they can reduce time and prototyping costs, and provide unlimited parametrization, more safety, and higher repeatability. Simulators play an important role in studies about driver behavior in operating conditions or with unstable vehicles. The aim of the research is to study the effects that the force feedback (f.f.b.), provided to steering wheel by a lane-keeping-assist (LKA) system, has on a driver’s response in simulators. The steering’s force feedback system is tested by reproducing the conditions of criticality of the LKA system in order to minimize the distance required to recover the driving stability as a function of set f.f.b. intensity and speed. The results, obtained in three specific criticality conditions, show that the behaviour of the LKA system, reproduced in the simulator, is not immediately understood by the driver and, sometimes, it is in opposition with the interventions performed by the driver to ensure driving safety. The results also compare the performance of the subjects, either overall and classified into subgroups, with reference to the perception of the LKA system, evaluated by means of a questionnaire. The proposed experimental methodology is to be regarded as a contribution for the integration of acceptance tests in the evaluation of automation systems.

The Role of Direct and Visual Force Feedback in Suturing Using a 7-DOF Dual-Arm Teleoperated System

2017 ◽  
Vol 10 (2) ◽  
pp. 276-287 ◽  
Author(s):  
Ali Talasaz ◽  
Ana Luisa Trejos ◽  
Rajni V. Patel
Keyword(s):  
Force Feedback ◽  
Visual Force Feedback ◽  
Dual Arm

Evidence of positive force feedback among hindlimb extensors in the intact standing cat

1995 ◽  
Vol 73 (6) ◽  
pp. 2578-2583 ◽  
Author(s):  
C. A. Pratt
Keyword(s):  
Force Feedback ◽  
Functional Organization ◽  
Force Plate ◽  
Feedback System ◽  
Implanted Electrodes ◽  
Golgi Tendon Organs ◽  
Ia Afferents ◽  
Extensor Muscles ◽  
Stimulation Of ◽  
Positive Force

1. The functional organization of heterogenic reflexes produced by activation of extensor force receptors (Golgi tendon organs) was studied in intact cats during stationary stance. Intramuscular stimulation (200 Hz, 20 ms) of hindlimb extensor muscles via chronically implanted electrodes was used to evoke weak muscle contractions and naturally activate Golgi tendon organ Ib afferents while cats stood unrestrained with each paw on a moveable triaxial force plate. 2. Intramuscular stimulation of every hindlimb extensor muscle tested in this study evoked excitatory responses that were widely distributed among hindlimb extensor muscles. Source and target specializations in the functional organization of this positive force feedback system were also observed. For example, stimulation of ankle extensors typically excited extensors and flexors at the ankle and hip (but not knee), whereas stimulation of hip extensors typically excited only extensors at all three joints. In addition, intramuscular stimulation of either lateral (LG) or medial (MG) gastrocnemius consistently inhibited soleus while exciting other extensors at the ankle and more proximal joints. 3. The electromyographic (EMG) reflex responses described above are attributed to the natural (via muscle contraction) activation of extensor group Ib afferents. Direct activation of intramuscular afferents by the stimulus was unlikely because there was no evidence that Ia afferents, which have the lowest electrical thresholds, were activated. Both the observed inhibition of the synergist, soleus, and the excitation of the antagonist, tibialis anterior, produced by gastrocnemius stimulation are opposite to the reflex effects that would be produced at the ankle by activation of gastrocnemius Ia afferents.(ABSTRACT TRUNCATED AT 250 WORDS)

scholarly journals Method for the Detection of Tumor Blood Vessels in Neurosurgery Using a Gripping Force Feedback System

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5157
Author(s):  
Hiroki Yokota ◽  
Takeshi Yoneyama ◽  
Tetsuyou Watanabe ◽  
Yasuo Sasagawa ◽  
Mitsutoshi Nakada
Keyword(s):  
Blood Vessel ◽  
Blood Vessels ◽  
Force Feedback ◽  
Correlation Coefficients ◽  
Feedback System ◽  
Force Sensor ◽  
Robot System ◽  
Blood Vessel Detection ◽  
Operating Space ◽  
Gripping Force

Avoiding unnecessary bleeding during neuroendoscopic surgeries is crucial because achieving hemostasis in a narrow operating space is challenging. However, when the location of a blood vessel in a tumor cannot be visually confirmed, unintentional damage to the vessel and subsequent bleeding may occur. This study proposes a method for tumor blood vessel detection using a master–slave surgical robot system equipped with a force sensor in the slave gripper. Using this method, blood pulsation inside a tumor was detected, displayed as a gripping force wave, via the slave force sensor. The characteristics of gripping force due to blood pulsation were extracted by measuring the fluctuation of the force in real time. The presence or absence of blood vessels was determined on the basis of cross-correlation coefficients between the gripping force fluctuation waveform due to blood pulsation and model fluctuation waveform. Experimental validation using two types of simulated tumors (soft: E = 6 kPa; hard: E = 38 kPa) and a simulated blood vessel (E = 1.9 MPa, radius = 0.5 mm, thickness = 0.1 mm) revealed that the presence of blood vessels could be detected while gripping at a constant angle and during transient gripping.

scholarly journals A sensorless force-feedback system for robot-assisted laparoscopic surgery

2019 ◽  
Vol 24 (sup1) ◽  
pp. 36-43 ◽  
Author(s):  
Baoliang Zhao ◽  
Carl A. Nelson
Keyword(s):  
Laparoscopic Surgery ◽  
Force Feedback ◽  
Feedback System ◽  
Robot Assisted

scholarly journals Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 19 ◽  
Author(s):  
Bao Tri Diep ◽  
Ngoc Diep Nguyen ◽  
Thanh T. Tran ◽  
Quoc Hung Nguyen
Keyword(s):  
Control System ◽  
Shoulder Joint ◽  
Experimental Validation ◽  
Force Feedback ◽  
Feedback System ◽  
Radial Force ◽  
Experimental Results ◽  
The Other ◽  
Sliding Joint ◽  
End Effectors

This research focuses on the development of a new 3-DOF (Degree of Freedom) force feedback system featuring a spherical arm mechanism and three magnetorheological (MR) brakes, namely two rotary MR brakes and one linear MR brake. The first rotary MR brake is integrated in the waist joint to reflect the horizontal tangent force, the other rotary MR brake is integrated in the shoulder joint to reflect the elevation tangent force, while the linear MR brake is integrated in the sliding joint of the arm to reflect the radial force (approach force). The proposed configuration can reflect a desired force to the operator at the end-effectors of the arm independently in 3 DOFs by controlling the current applied to the coils of the MR brakes. After the introduction, the configuration of the proposed force feedback system is presented. Afterward, the design and conducted simulation of the MR brakes for the systems are provided. The prototype of the force feedback system, which was manufactured for the experiment, is then presented as well as some of the obtained experimental results. Finally, the proposed control system is presented and its implementation to provide a desired feedback force to the operator is provided.

scholarly journals Virtual surgery system using deformable organ models and force feedback system with three fingers

1998 ◽  
pp. 397-403 ◽  
Author(s):  
Naoki Suzuki ◽  
Asaki Hattori ◽  
Akihiro Takatsu ◽  
Takahiro Kumano ◽  
Akio Ikemoto ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Virtual Surgery ◽  
Organ Models
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