scholarly journals A toolkit for haptic force feedback in a telerobotic ultrasound system

2021 ◽  
Vol 14 (1) ◽  
Author(s):  
Reza Fotouhi ◽  
Atieh Najafi Semnani ◽  
QianWei Zhang ◽  
Scott J. Adams ◽  
Haron Obaid
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Virtual Object ◽  
Human Hand ◽  
Training And Education ◽  
Flat Surfaces ◽  
Object Based ◽  
Ultrasound System ◽  
Collision Force ◽  
Future Work

Abstract Objective To develop a collision engine (haptic force feedback simulator) compatible with a 5-degrees-of-freedom (DOF) haptic wand. This has broad applications such as telerobotic ultrasound systems. Integrating force feedback into systems is critical to optimize remote scanning. A collision engine compatible with a 5-DOF haptic wand was developed based on the Gilbert–Johnson–Keerthi algorithm. The collision engine calculated force during collision between the wand and a virtual object based on code developed using MATLAB. A proportional force was subsequently returned to a user via the haptic wand, thereby simulating the collision force for the user. Three experiments were conducted to assess the accuracy of the collision engine on curved and flat surfaces. Results The average errors in calculation of distances between the wand and virtual object were 2.1 cm, 3.4 cm, and 4.2 cm for the model of the human hand, cylinder, and cuboid, respectively. The collision engine accurately simulated forces on a flat surface, though was less accurate on curved surfaces. Future work will incorporate haptic force feedback into a telerobotic ultrasound system. The haptic force simulator presented here may also be used in the development of ultrasound simulators for training and education.

scholarly journals A Toolkit for Haptic Force Feedback in a Telerobotic Ultrasound System

2021 ◽  
Author(s):  
Reza Fotouhi ◽  
Atieh Najafi Semnani ◽  
QianWei Zhang ◽  
Scott J. Adams ◽  
Haron Obaid
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Virtual Object ◽  
Human Hand ◽  
Training And Education ◽  
Flat Surfaces ◽  
Object Based ◽  
Ultrasound System ◽  
Collision Force ◽  
Future Work

Abstract Objective To develop a collision engine (haptic force feedback simulator) compatible with a 5-degrees-of-freedom (DOF) haptic wand. This has broad applications such as for telerobotic ultrasound systems. Integrating force feedback into systems is critical to optimize remote scanning. A collision engine compatible with a 5-DOF haptic wand was developed based on the Gilbert–Johnson–Keerthi algorithm. The collision engine calculated force during collision between the wand and a virtual object based on code developed using MATLAB. A proportional force was subsequently returned to a user via the haptic wand, thereby simulating the collision force for the user. Three experiments were conducted to assess the accuracy of the collision engine on curved and flat surfaces. Results The average errors in calculation of distances between the wand and virtual object were 2.1 cm, 3.4 cm, and 4.2 cm for the model of the human hand, cylinder, and cuboid, respectively. The collision engine accurately simulated forces on a flat surface, though was less accurate on curved surfaces. Future work will incorporate haptic force feedback into a telerobotic ultrasound system. The haptic force simulator presented here may also be used in the development of ultrasound simulators for training and education.

scholarly journals A Stewart Platform as a FBW Flight Control Unit

2011 ◽  
Vol 62 (4) ◽  
pp. 213-219
Author(s):  
Vasfi Ömürlü ◽  
İbrahim Yildiz
Keyword(s):  
Flight Control ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Single Point ◽  
Control Unit ◽  
Stewart Platform ◽  
Rotational Axis ◽  
Control Units ◽  
Feasible Solutions ◽  
Future Work

A Stewart Platform as a FBW Flight Control UnitA variety of flight control units have been put into realization for navigational purposes of spatially moving vehicles (SMV), which is mostly manipulated by 2 or 3 degrees-of-freedom (DOF) joysticks. Since motion in space consists of three translational motions in forward, side and vertical directions and three rotational motions about these axis; with present joystick interfaces, spatial vehicles has to employ more than one navigational control unit to be able to navigate on all required directions. In this study, a 3 × 3 Stewart-Platform-based FBW (Fly-By-Wire) flight control unit with force feedback is presented which will provide single point manipulation of any SMVs along three translational and about three rotational axis. Within the frame of this paper, design, capability and the advantages of the novel system is mentioned. Kinematics of a Stewart Platform (SP) mechanism employed and its motion potentials is presented by simulations and workspace of the system is evaluated. Dynamic analysis by Bond-Graph approach will be mentioned. Mechatronic design of the complete structure is discussed and force reflection capability of the system with simulations is pointed out using stiffness control. Finally, the possible future work of the subject is discussed which may include the feasible solutions of the SP in terms of size and safety when implementing inside a cockpit.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

scholarly journals Human Hand Anatomy-Based Prosthetic Hand

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 137
Author(s):  
Larisa Dunai ◽  
Martin Novak ◽  
Carmen García Espert
Keyword(s):  
3D Printing ◽  
Degrees Of Freedom ◽  
Use Of Force ◽  
Hand Movements ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Object Surface ◽  
Hand Phalanges ◽  
High Level

The present paper describes the development of a prosthetic hand based on human hand anatomy. The hand phalanges are printed with 3D printing with Polylactic Acid material. One of the main contributions is the investigation on the prosthetic hand joins; the proposed design enables one to create personalized joins that provide the prosthetic hand a high level of movement by increasing the degrees of freedom of the fingers. Moreover, the driven wire tendons show a progressive grasping movement, being the friction of the tendons with the phalanges very low. Another important point is the use of force sensitive resistors (FSR) for simulating the hand touch pressure. These are used for the grasping stop simulating touch pressure of the fingers. Surface Electromyogram (EMG) sensors allow the user to control the prosthetic hand-grasping start. Their use may provide the prosthetic hand the possibility of the classification of the hand movements. The practical results included in the paper prove the importance of the soft joins for the object manipulation and to get adapted to the object surface. Finally, the force sensitive sensors allow the prosthesis to actuate more naturally by adding conditions and classifications to the Electromyogram sensor.

Design of a Novel Parallel Mechanism for Haptic Device

2021 ◽  
pp. 1-63
Author(s):  
Jin Lixing ◽  
Duan Xingguang ◽  
Li Changsheng ◽  
Shi Qingxin ◽  
Wen Hao ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Architecture ◽  
General Purpose ◽  
Haptic Device ◽  
Haptic Devices ◽  
Modeling And Optimization ◽  
Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

Radiation-tolerant robotic complex URS-2

2021 ◽  
Vol 9 (2) ◽  
pp. 142-150
Author(s):  
Ivan Guschin ◽  
Anton Leschinskiy ◽  
Andrey Zhukov ◽  
Alexander Zarukin ◽  
Vyacheslav Kiryukhin ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Control Device ◽  
Control Panel ◽  
Original Design ◽  
Innovative Methods ◽  
Control Computer ◽  
Robotic Arm Control ◽  
6 Degrees Of Freedom ◽  
Radiation Tolerant

The results of the development of a radiation-tolerant robotic complex URS-2 for operation in hot cells at nuclear enterprises are presented. The robotic complex consists of several original components: robotic arm, control device with force feedback, control panel with hardware buttons and touch screen, control computer with system and application software, control-and-power cabinet. The robotic manipulator has 6 degrees of freedom, replaceable pneumatic grippers and is characterized by high radiation tolerance, similar to that of mechanical master-slave manipulators. The original design of the control device based on the delta-robot model that implements a copying mode of manual control of the robotic complex with force feedback is presented. The hardware and software solutions developed has made it possible to create a virtual simulator of the RTC for testing innovative methods of remote control of the robot, as well as teaching operators to perform technological tasks in hot cells. The experimental model of the robotic complex has demonstrated the ability to perform basic technological tasks in a demo hot cell, both in manual and automatic modes.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

STUDIES ON HOMOGENEOUS FIRST ORDER GAS REACTIONS: II. THE DECOMPOSITION OF THE ISOMERIC ESTERS BUTYLIDENE DIACETATE AND ETHYLIDENE DIPROPIONATE

1932 ◽  
Vol 6 (4) ◽  
pp. 417-427 ◽  
Author(s):  
C. C. Coffin
Keyword(s):  
Activation Energy ◽  
Degrees Of Freedom ◽  
Maximum Energy ◽  
Velocity Measurements ◽  
First Order ◽  
Gas Reactions ◽  
Points Of View ◽  
The Stability ◽  
Future Work ◽  
Internal Degrees Of Freedom

The gaseous decompositions of the esters butylidene diacetate and ethylidene dipropionate have been studied from points of view previously outlined in papers on the decomposition of ethylidene diacetate (2, 3). The decomposition velocities have been measured at initial pressures of from 5 to 56 cm. of mercury and at temperatures between 211 and 265 °C. The reactions are homogeneous and of the first order. They agree with the Arrhenius equation and give 100% yields (within experimental error) of an aldehyde and an anhydride. The preparation of the compounds and improvements in the technique of the velocity measurements are described.While the specific velocities of the three reactions at any temperature are somewhat different, their activation energies are the same. It is suggested that in the case of such simple reactions, which are strictly localized within the molecular structure, the activation energy can be identified as the maximum energy that the reactive bonds may possess and still exist; i.e., it may be taken as a measure of the stability of the bonds which are broken in the reaction. The suggestion is also made that for a series of reactions which have the same activation energy, the specific velocities can be taken as a relative measure of the number of internal degrees of freedom that contribute to the energy of activation. On the basis of these assumptions it becomes possible to use reaction-velocity measurements for the investigation of intramolecular energy exchange. The theoretical significance of the data is further discussed and the scope of future work in this connection is indicated.The monomolecular velocity constants (sec−1) of the decomposition of ethylidene diacetate, ethylidene dipropionate and butylidene diacetate are given respectively by the equations [Formula: see text], [Formula: see text], and [Formula: see text].

scholarly journals Nonlinear Force Feedback Enhancement for Cooperative Robotic Neurosurgery Enforces Virtual Boundaries on Cortex Surface

2016 ◽  
Vol 01 (02) ◽  
pp. 1650001 ◽  
Author(s):  
Elisa Beretta ◽  
Giancarlo Ferrigno ◽  
Elena De Momi
Keyword(s):  
Soft Tissues ◽  
Force Feedback ◽  
System Stability ◽  
Hand Tremor ◽  
Nonlinear Force ◽  
Feedback Enhancement ◽  
Safety Features ◽  
Robotic Neurosurgery ◽  
Robotic Assistant ◽  
Future Work

Surgeons can benefit from the cooperation with a robotic assistant during the repetitive execution of precise targeting tasks on soft tissues, such as brain cortex stimulation procedures in open-skull neurosurgery. Position-based force-to-motion control schemes may not be satisfactory solution to provide the manipulator with the high compliance desirable during guidance along wide trajectories. A new torque controller with nonlinear force feedback enhancement (FFE) is presented to provide augmented haptic perception to the operator from instrument-tissue interaction. Simulation tests were performed to evaluate the system stability according to different nonlinear force modulation functions (power, sigmoidal and arc tangent). The FFE controller with power modulation was experimentally validated with a pool of nonexpert users using brain-mimicking gelatin phantoms (8–16% concentration). Besides providing hand tremor rejection for a stable holding of the tool, the FFE controller was proven to allow for a safer tissue contact with respect to both robotic assistance without force feedback and freehand executions (50% and 75% reduction of the indentation depth, respectively). Future work will address the evaluation of the safety features of the FFE controller with expert surgeons on a realistic brain phantom, also accounting for unpredictable tissue motions as during seizures due to cortex stimulation.

scholarly journals Full Control of Virtual Objects Manipulation Based on the Images of Real Ones

2011 ◽  
Vol 10 (3) ◽  
pp. 51-60
Author(s):  
Brahim Nini
Keyword(s):  
Finite Number ◽  
Degrees Of Freedom ◽  
Moving Object ◽  
Real Object ◽  
Virtual Object ◽  
Analytical Geometry ◽  
Six Degrees Of Freedom ◽  
Virtual Objects ◽  
Simulation Process ◽  
Full Control

This work deals with the virtual manipulation of a real object through its images. The results presented in this paper give a movie-based solution to the simulation process. We show how the simulation of infinite virtual views of a moving object can be reached using a finite number of object's taken images stored in an organized way. The basis of this solution is an analytical geometry-based method that links explicit applied user's actions, resulting in an object's views change, and images that match the best such views. This paper presents an overall solution for these three intertwined parts of the virtual manipulation that involves six degrees of freedom. Hence, a user is able to freely manipulate a virtual object in a scene in whatever manner s/he likes. In this case, the actions are transformed into rotations and/or translations which lead to some changes in object's appearance, both covered by two viewing features: zoom and/or rotations

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