scholarly journals A Hybrid Method for Haptic Feedback to Support Manual Virtual Product Assembly

2011 ◽  
Author(s):  
Daniela Faas
Keyword(s):  
Collision Detection ◽  
Simulation Training ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Boundary Representation ◽  
Virtual Training ◽  
Assembly Simulation ◽  
Assembly Operations ◽  
Product Assembly ◽  
Virtual Product

Experience with current Virtual Reality (VR) systems that simulate low clearance assembly operations with haptic feedback indicate that such systems are highly desirable tools in the evaluation of preliminary designs, as well as virtual training and maintenance processes. The purpose of this research is to develop methods to support manual low clearance assembly using haptic (force) feedback in a virtual environment. The results of this research will be used in an engineering framework for assembly simulation, training, and maintenance. The proposed method combines voxel-based collision detection and boundary representation to support both force feedback and constraint recognition. The key to this approach is developing the data structure and logic needed to seamlessly move between the two representations while supporting smooth haptic feedback. Collision forces and constraint-guided forces are blended to provide support for low clearance haptic assembly. This paper describes the development of the method.

scholarly journals BREP Identification During Voxel-Based Collision Detection for Haptic Manual Assembly

2011 ◽  
Author(s):  
Daniela Faas ◽  
Judy M. Vance
Keyword(s):  
Collision Detection ◽  
Force Feedback ◽  
Boundary Representation ◽  
Small Subset ◽  
Manual Assembly ◽  
Assembly Simulation ◽  
Geometric Boundary ◽  
Novel Method ◽  
Constraint Enforcement ◽  
Assembly Tasks

This paper presents a novel method to tie geometric boundary representation (BREP) to voxel-based collision detection for use in haptic manual assembly simulation. Virtual Reality, in particular haptics, has been applied with promising results to improve preliminary product design, assembly prototyping and maintenance operations. However, current methodologies do not provide support for low clearance assembly tasks, reducing the applicability of haptics to a small subset of potential situations. This paper discusses a new approach, which combines highly accurate CAD geometry (boundary representation) with voxel models to support a hybrid method involving both geometric constraint enforcement and voxel-based collision detection to provide stable haptic force feedback. With the methods presented here, BREP data can be accessed during voxel-based collision detection. This information can be used for constraint recognition and lead to constraint-guidance during the assembly process.

Semi-Immersive Virtual Turbine Engine Simulation System

2018 ◽  
Vol 35 (2) ◽  
pp. 149-160 ◽  
Author(s):  
Mustufa H. Abidi ◽  
Abdulrahman M. Al-Ahmari ◽  
Ali Ahmad ◽  
Saber Darmoul ◽  
Wadea Ameen
Keyword(s):  
Virtual Reality ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Design System ◽  
Detection Mechanism ◽  
Turbine Engine ◽  
Surround Sound ◽  
Process Verification ◽  
Engine Simulation ◽  
Assembly Operations

AbstractThe design and verification of assembly operations is essential for planning product production operations. Recently, virtual prototyping has witnessed tremendous progress, and has reached a stage where current environments enable rich and multi-modal interaction between designers and models through stereoscopic visuals, surround sound, and haptic feedback. The benefits of building and using Virtual Reality (VR) models in assembly process verification are discussed in this paper. In this paper, we present the virtual assembly (VA) of an aircraft turbine engine. The assembly parts and sequences are explained using a virtual reality design system. The system enables stereoscopic visuals, surround sounds, and ample and intuitive interaction with developed models. A special software architecture is suggested to describe the assembly parts and assembly sequence in VR. A collision detection mechanism is employed that provides visual feedback to check the interference between components. The system is tested for virtual prototype and assembly sequencing of a turbine engine. We show that the developed system is comprehensive in terms of VR feedback mechanisms, which include visual, auditory, tactile, as well as force feedback. The system is shown to be effective and efficient for validating the design of assembly, part design, and operations planning.

Grasp Identification and Multi-Finger Haptic Feedback for Virtual Assembly

2004 ◽  
Author(s):  
Zhenhua Zhu ◽  
Shuming Gao ◽  
Huagen Wan ◽  
Yang Luo ◽  
Wenzhen Yang
Keyword(s):  
Collision Detection ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Virtual Assembly ◽  
Feedback System ◽  
Virtual Hand ◽  
Mechanical Component ◽  
Immersion Experience ◽  
Novel Approach ◽  
Sense Of Touch

The sense of touch is an important way for humans to feel the world. It is very important to provide realistic haptic feedback in virtual assembly applications as to enhancing immersion experience and improving efficiency. This paper presents a novel approach for grasp identification and multi-finger haptic feedback for virtual assembly. Firstly, the Voxmap-PointShell (VPS) algorithm is adapted and utilized to detect collisions between a dexterous virtual hand and a mechanical component or between two mechanical components, and collision detection results are used to guide the motion of a virtual hand. Then collision forces at collision points are calculated (using Hooke Law), classified and converted. Finally, forces received at fingertips of a virtual hand are used to identify whether or not a virtual hand can grasp a mechanical component, and are mapped to exert forces at user’s fingertips with a CyberGrasp force feedback system. Our approach has been incorporated and verified in a CAVE virtual environment.

scholarly journals Assessment of Pointshell Shrinking and Feature Size on Virtual Manual Assembly

2010 ◽  
Author(s):  
Daniela Faas ◽  
Judy M. Vance
Keyword(s):  
Virtual Environment ◽  
Empirical Equation ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Feature Size ◽  
Manual Assembly ◽  
Voxel Size ◽  
Assembly Operations

This paper investigates the effect of pointshell shrinking and feature size on manual assembly operations in a virtual environment with haptic force feedback. Specific emphasis is on exploring methods to improve voxel-based modeling to support manual assembly of low clearance parts. CAD parts were created, voxelized and tested for assembly. The results showed that pointshell shrinking allows the engineer to assemble parts with a lower clearance than without pointshell shrinking. Further results showed that assemble-ability is dependent on feature size, particularly part diameter and clearance. In a pin and hole assembly, as the pin diameter increases, for a given percent clearance, assembling low clearance features becomes difficult. An empirical equation is developed to guide the designer in selecting an appropriate voxel size based on feature size. These results advance the effort to improve manual assembly operations via haptic feedback in the virtual environment.

Haptic Feedback, Force Feedback, and Force-Sensing in Simulation Training for Laparoscopy: A Systematic Overview

2019 ◽  
Vol 76 (1) ◽  
pp. 242-261 ◽  
Author(s):  
Evelien M Overtoom ◽  
Tim Horeman ◽  
Frank-Willem Jansen ◽  
Jenny Dankelman ◽  
Henk W R Schreuder
Keyword(s):  
Simulation Training ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Force Sensing ◽  
Systematic Overview

scholarly journals A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 640
Author(s):  
Linshuai Zhang ◽  
Shuoxin Gu ◽  
Shuxiang Guo ◽  
Takashi Tamiya
Keyword(s):  
Collision Detection ◽  
Endovascular Procedures ◽  
Force Feedback ◽  
Force Measurement ◽  
Occupational Hazards ◽  
Robot Assisted ◽  
X Ray ◽  
Surgical Safety ◽  
Surgical Tool ◽  
Haptic Cues

A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.

scholarly journals The Application of an Impedance-Passivity Controller in Haptic Stability Analysis

2021 ◽  
Vol 11 (4) ◽  
pp. 1618
Author(s):  
Ping-Nan Chen ◽  
Yung-Te Chen ◽  
Hsin Hsiu ◽  
Ruei-Jia Chen
Keyword(s):  
Control Systems ◽  
Force Feedback ◽  
Training System ◽  
Considerable Time ◽  
Virtual Training ◽  
Control Gain ◽  
Negative Damping ◽  
The Stability ◽  
Time Required ◽  
Stable Control

This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems, namely the considerable time required to reach stability if the equipment consumes energy slowly. The proposed IPC can be used to achieve stability through model parameter selection and to obtain control gain. In particular, haptic performance can be improved for extreme cases of high stiffness and negative damping. Furthermore, a virtual training system for one-degree-of-freedom sticking was developed to validate the experimental platform of our IPC. To ensure consistency in the experiment, we designed a specialized mechanical robot to replace human operation. Finally, compared with basic passivity control systems, our IPC could achieve stable control rapidly.

Minimizing the cost of products manufactured by the assembly line

2020 ◽  
pp. 483-487
Author(s):  
N.I. Aristova
Keyword(s):  
Computer Modeling ◽  
Assembly Line ◽  
Scientific Research ◽  
The Self ◽  
Manufactured Products ◽  
The Cost ◽  
Assembly Operations ◽  
Automation Tools ◽  
Probabilistic Nature ◽  
Product Assembly

A significant criterion for the functioning of an assembly line is to minimize the cost of manufactured products, for the achievement of which approaches are currently used that apply computer modeling and the hierarchical principle of product assembly, the approach, as well as taking into account the probabilistic nature of the assembly operations. An overview of scientific research aimed at solving these problems is given. An approach has been proposed that makes it possible to assess the efficiency of production in the self-reproduction of automation tools by the criterion of minimizing the cost of manufactured products.

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