Interacting with virtual environments using a magnetic levitation haptic interface

2002 ◽  
Author(s):  
P.J. Berkelman ◽  
R.L. Hollis ◽  
S.E. Salcudean
Keyword(s):  
Virtual Environments ◽  
Magnetic Levitation ◽  
Haptic Interface

Design of a Haptic Arm Exoskeleton for Training and Rehabilitation

2004 ◽  
Author(s):  
Abhishek Gupta ◽  
Marcia K. O’Malley
Keyword(s):  
Virtual Environments ◽  
Interface Design ◽  
Sensor Selection ◽  
Haptic Interface ◽  
Structural Stiffness ◽  
Robot Assisted ◽  
Human Arm ◽  
Kinesthetic Feedback ◽  
Future Work ◽  
And Training

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training.

Frequency Dependence of Compliance Contrast Detection

2000 ◽  
Author(s):  
Neel Dhruv ◽  
Frank Tendick
Keyword(s):  
Virtual Environments ◽  
Haptic Perception ◽  
Low Frequency ◽  
Detection Sensitivity ◽  
Haptic Interface ◽  
Detection Thresholds ◽  
Contrast Detection ◽  
Spatial Frequencies ◽  
Contrast Thresholds ◽  
Varying Compliance

Abstract Psychophysical experiments were performed to investigate the haptic perception of objects with varying compliance over their surfaces. Perception of compliance contrast is important in interaction with soft environments, as in teleoperative surgery. Simulated surfaces were presented using a haptic interface in virtual environments. An adaptive 2–down, 1–up procedure was used to determine thresholds for compliance contrast detection at a range of spatial frequencies. The maximum effective temporal frequencies of compliance change, due to the subjects’ action of scanning the surfaces, were calculated. Force contrast detection thresholds were determined at a range of temporal frequencies to investigate the reliance of compliance contrast detection on force cues. Compliance and force discrimination thresholds were determined in order to compare with low frequency contrast thresholds. Compliance and force contrast detection thresholds were found to be 2% and 1% above 1/2 cyc/cm and 20 Hz, respectively. Both were significantly smaller than respective compliance and force discrimination thresholds and low frequency contrast detection thresholds. It appears that the improvement in compliance contrast detection sensitivity is due to subjects being more sensitive to force contrast at higher temporal frequencies. By changing environment exploration strategies or limb impedance, subjects may be able to change their sensitivity to object compliance contrast.

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.

Development of a desktop haptic interface for teleoperation and virtual environments interaction

2017 ◽  
Author(s):  
Michele Folgheraiter ◽  
Artemiy Oleinikov ◽  
Askhat Galiyev ◽  
Yeskendir Kassenov ◽  
Dastan Abdygali
Keyword(s):  
Virtual Environments ◽  
Haptic Interface

scholarly journals Development of a Dual-Handed Haptic Assembly System: SHARP

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Abhishek Seth ◽  
Hai-Jun Su ◽  
Judy M. Vance
Keyword(s):  
Virtual Environments ◽  
Haptic Interface ◽  
Assembly System ◽  
Mechanical Assembly ◽  
Swept Volumes ◽  
Product Design Process ◽  
Costly Product ◽  
Easy Integration ◽  
Realization Process ◽  
Product Realization

Virtual reality (VR) technology holds promise as a virtual prototyping (VP) tool for mechanical assembly; however, several developmental challenges still need to be addressed before VP applications can successfully be integrated into the product realization process. This paper describes the development of System for Haptic Assembly and Realistic Prototyping (SHARP), a portable virtual assembly system. SHARP uses physics-based modeling for simulating realistic part-to-part and hand-to-part interactions in virtual environments. A dual-handed haptic interface for a realistic part interaction using the PHANToM® haptic devices is presented. The capability of creating subassemblies enhances the application’s ability to handle a wide variety of assembly scenarios at the part level as well as at the subassembly level. Swept volumes are implemented for addressing maintainability issues, and a network module is added for communicating with different VR systems at dispersed geographic locations. Support for various types of VR systems allows an easy integration of SHARP into the product realization process, resulting in faster product development, faster identification of assembly and design issues, and a more efficient and less costly product design process.

Future Haptic Science Encyclopedia: Realistic Stable Haptic Interaction with Highly Deformable Objects Using HIRO-II

2006 ◽  
Vol 18 (4) ◽  
pp. 409-417 ◽  
Author(s):  
Osama Halabi ◽  
◽  
Vytautas Daniulaitis ◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri ◽  
...  
Keyword(s):  
Virtual Environments ◽  
Subjective Evaluation ◽  
Haptic Interface ◽  
Deformable Objects ◽  
The Finite Element Method ◽  
Haptic Interaction ◽  
Physically Based ◽  
The Stability ◽  
Displacement Approach ◽  
Objective And Subjective Evaluation

Maintaining a stable haptic interaction with virtual environments, especially with physically-based deformable objects, has long been an active area of research. We address this issue by presenting a comprehensive haptic system architecture and virtual reality simulation, where a physically-based modeling using the Finite Element Method (FEM) combined with an “elementary displacement” approach has been implemented. This approach ensures the stability of haptic interaction with deformable objects and considers interaction with multipoints contacts. The Future Haptic Science Encyclopedia (FHSE) we developed to verify our proposal and demonstrate the new haptic interface HIRO II. We also present an objective and subjective evaluation of FHSE simulation.

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