4 Degree-of-Freedom haptic device for surgical simulation

2014 ◽  
Author(s):  
Michael Mortimer ◽  
Ben Horan ◽  
Alex Stojcevski
Keyword(s):  
Surgical Simulation ◽  
Degree Of Freedom ◽  
Haptic Device

scholarly journals Development and evaluation of a handheld type 6 DoF midair haptic device using asymmetric vibration and a presentation force vectoring mechanism

2021 ◽  
Author(s):  
Yuto Okuda ◽  
Shunsuke Komizunai ◽  
Atsushi Konno
Keyword(s):  
Inverse Problem ◽  
Problem Solving ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Input And Output ◽  
User Test ◽  
Original Presentation ◽  
Force Sense ◽  
Asymmetric Vibration

Abstract This paper describes a handheld type aerial haptic device with 6 DoF (degree of freedom) using pseudo-haptics by asymmetric vibration. By introducing a original presentation force vectoring mechanism, 6 DoF force sense presentation and compactness suitable for handheld use with a small number of vibrators are realized together. In addition, a relationship between the drive input and output (presentation force sense) of the developed device is formulated, and its inverse problem solving method for obtaining the drive input that realizes a desired presentation force sense is derived. Furthermore, a user test clarified the direction in which this device can / cannot effectively exert force.

A Novel 2 DOF Haptic Device for Gunnery Training

2011 ◽  
Vol 346 ◽  
pp. 241-246 ◽  
Author(s):  
Mo Yuan Zhou ◽  
Guan Yang Liu ◽  
Ke Ke Lu
Keyword(s):  
Design Procedure ◽  
Structure Design ◽  
Training System ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Training Effect ◽  
Requirement Analysis ◽  
Graphic Interface ◽  
Selection Of

Graphic interface and auditory interface has been introduced in Tank training system applied in the army before. A novel 2 Degree of freedom haptic device was designed to improve the gunnery training effect. This paper presents the design of a spherical 2 DOF device that can be used as gunnery station. The design procedure includes the requirement analysis, the selection of the actuator, sensor and transmission, and structure design.

scholarly journals Design and Test of a 1 DOF Haptic Device for Online Experimentation

2016 ◽  
Vol 12 (04) ◽  
pp. 55 ◽  
Author(s):  
Fernando Carneiro ◽  
Manuel Rodrigues Quintas ◽  
Paulo Abreu ◽  
Maria Teresa Restivo
Keyword(s):  
Virtual Reality ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Online Experimentation ◽  
Design And Testing

This work describes the design and testing of a 1 degree of freedom (DOF) haptic device, for interaction with virtual reality (VR) applications. This device was designed so that it could to be easily assembled by anyone at a reduced price. Instructions for device assembly, as well as some VR appli-cations are available online. The tests performed on the device proved that, despite its low cost, it is able to provide users with a good haptic experience and is adequate for not complex applications.

Design and Experimental Validation of a Two-Degree-of-Freedom Force Illusion Device

2014 ◽  
Author(s):  
Nicolò Pedemonte ◽  
Frédérik Berthiaume ◽  
Thierry Laliberté ◽  
Clément Gosselin
Keyword(s):  
External Force ◽  
Parallel Mechanism ◽  
Visually Impaired ◽  
Experimental Validation ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Visually Impaired People ◽  
Impaired People ◽  
Two Degree Of Freedom

In this paper, a new hand-held haptic device that aims at producing the illusion of an external force is presented. This device is based on a planar two-degree-of-freedom parallel mechanism that can be programmed to produce the force illusion in any direction of the plane. Two tests are proposed to a group of people, in order to evaluate the device’s capabilities. The results obtained from the tests are analyzed and shown to be promising. Finally, modifications to the device are proposed in order to further improve the effectiveness of the system. The device proposed in this work is envisioned as a guidance tool for visually impaired people.

Small MR-Brake With Serpentine Flux Path and T-Rotor for Haptics

2013 ◽  
Author(s):  
Todd May ◽  
Hakan Gurocak
Keyword(s):  
Volume Ratio ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
High Current ◽  
New Device ◽  
Current Input ◽  
Wall Collision ◽  
High Torque ◽  
Flux Path

In haptics applications, fast, stable and crisp force responses are desired. Magnetorheological (MR) brakes are used as actuators in haptics since they provide high torque-to-volume ratios. However, they still tend to be rather large and use high current inputs. We developed a new MR-brake with a T-rotor and serpentine flux path. The new device has 45 mm diameter and 65 mm length. It produces 6.5 Nm torque with 1A current input. It has more than double the torque-to-volume ratio of a commercial MR-brake and a previous T-rotor brake in literature. As such, it can open up many new application areas including portable systems. A prototype was built and tested to assess its effectiveness as a 1 degree-of-freedom (DOF) haptic device in virtual wall collision. The new MR-brake provided a crisp collision and release with the virtual wall.

scholarly journals Let's Use Haptics!

2013 ◽  
Vol 9 (S8) ◽  
pp. 65 ◽  
Author(s):  
Manuel Rodrigues Quintas ◽  
Maria Teresa Restivo ◽  
José Rodrigues ◽  
Pedro Ubaldo
Keyword(s):  
Virtual Reality ◽  
Young People ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Complete System ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Expensive Equipment ◽  
Sense Of Touch

The concept and the use of haptic devices need to be disseminated and they should become familiar among young people. At present haptics are used in many everyday tasks in different fields. Additionally, their use in interaction with virtual reality applications simulating real systems sense of touch will increase the usersâ?? realism and immersion and, consequently, they will contribute to improve the intrinsic knowledge to the simulationsâ?? goals. However, haptics are associated with expensive equipment and usually they offer several degrees of freedom. The objective of this work is to make their cost not much more expensive than a â??specialâ? mouse by offering a low cost solution with just one degree of freedom (1DOF) useful in many simple cases. Additionally, it is also an objective of this work the development of simple virtual reality systems requiring interactions only requiring one degree of freedom. A low cost, single-axis force-feedback haptic device of 1 degree of freedom has been developed. For evaluating the interest of this prototype a â??Spring Constantâ? application was built and used as a demonstrator. The complete system - the haptic interacting with the â??Spring Constantâ? - will be described in the present work.

scholarly journals A Six Degree-of-Freedom Haptic Device Based on the Orthoglide and a Hybrid Agile Eye

2006 ◽  
Author(s):  
Damien Chablat ◽  
Philippe Wenger
Keyword(s):  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Parallel Mechanisms ◽  
Real Time Control ◽  
Time Control ◽  
Rotational Motions ◽  
Six Degree Of Freedom ◽  
Rotary Motor ◽  
Three Degrees Of Freedom

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-time control. To reduce the inertial load, the motors are fixed on the base and a transmission with two universal joints is used to transmit the rotational motions from the base to the end-effector. Two alternative wrists are proposed (i), the agile eye with three degrees of freedom or (ii) a hybrid wrist made by the assembly of a two-dof agile eye with a rotary motor. The last one is optimized to increase its stiffness and to decrease the number of moving parts.

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