scholarly journals Haptic User Interface of a Cable-Driven Input Device to Control the End Effector of a Surgical Telemanipulation System

2021 ◽  
Vol 7 (2) ◽  
pp. 211-214
Author(s):  
Max B. Schäfer ◽  
Bha A. Al-Abboodi ◽  
Peter P. Pott
Keyword(s):  
User Interface ◽  
Input Device ◽  
Parallel Mechanisms ◽  
Frequency Bandwidth ◽  
End Effector ◽  
Input Devices ◽  
Haptic User Interface ◽  
Command Input ◽  
Technical Specifications ◽  
Haptic Sensation

Abstract In robotic telemanipulation for minimally-invasive surgery, lack of haptic sensation and non-congruent movement of input device and manipulator are major drawbacks. Input devices based on cable-driven parallel mechanisms have the potential to be a stiff alternative to input devices based on rigid parallel or serial kinematics by offering low inertia and a scalable workspace. In this paper, the haptic user interface of a cable-driven input device and its technical specifications are presented and assessed. The haptic user interface allows to intuitively control the gripping movement of the manipulator’s end effector by providing a two-finger precision grasp. By design, the interface allows to command input angles between 0° and 45°. Furthermore, interaction forces from the manipulator’s end effector can be displayed to the user’s twofinger grasp in a range from 0 N to 6 N with a frequency bandwidth of 17 Hz.

scholarly journals Telemanipulation of an Articulated Robotic Arm using a Commercial Virtual Reality Controller

2020 ◽  
Vol 6 (3) ◽  
pp. 127-130
Author(s):  
Max B. Schäfer ◽  
Kent W. Stewart ◽  
Nico Lösch ◽  
Peter P. Pott
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Robotic Arm ◽  
Input Device ◽  
Robot Assisted ◽  
Promising Alternative ◽  
Input Devices ◽  
Current Input ◽  
Current Systems ◽  
Robot Assisted Surgery

AbstractAccess to systems for robot-assisted surgery is limited due to high costs. To enable widespread use, numerous issues have to be addressed to improve and/or simplify their components. Current systems commonly use universal linkage-based input devices, and only a few applicationoriented and specialized designs are used. A versatile virtual reality controller is proposed as an alternative input device for the control of a seven degree of freedom articulated robotic arm. The real-time capabilities of the setup, replicating a system for robot-assisted teleoperated surgery, are investigated to assess suitability. Image-based assessment showed a considerable system latency of 81.7 ± 27.7 ms. However, due to its versatility, the virtual reality controller is a promising alternative to current input devices for research around medical telemanipulation systems.

A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation

2009 ◽  
Vol 1 (3) ◽  
Author(s):  
Marco Carricato ◽  
Clément Gosselin
Keyword(s):  
Sufficient Conditions ◽  
Parallel Manipulators ◽  
Point Of View ◽  
Theoretical Point ◽  
Constant Force ◽  
Parallel Mechanisms ◽  
End Effector ◽  
Neutral Equilibrium ◽  
The Difference ◽  
Elastic Elements

Gravity compensation of spatial parallel manipulators is a relatively recent topic of investigation. Perfect balancing has been accomplished, so far, only for parallel mechanisms in which the weight of the moving platform is sustained by legs comprising purely rotational joints. Indeed, balancing of parallel mechanisms with translational actuators, which are among the most common ones, has been traditionally thought possible only by resorting to additional legs containing no prismatic joints between the base and the end-effector. This paper presents the conceptual and mechanical designs of a balanced Gough/Stewart-type manipulator, in which the weight of the platform is entirely sustained by the legs comprising the extensible jacks. By the integrated action of both elastic elements and counterweights, each leg is statically balanced and it generates, at its tip, a constant force contributing to maintaining the end-effector in equilibrium in any admissible configuration. If no elastic elements are used, the resulting manipulator is balanced with respect to the shaking force too. The performance of a study prototype is simulated via a model in both static and dynamic conditions, in order to prove the feasibility of the proposed design. The effects of imperfect balancing, due to the difference between the payload inertial characteristics and the theoretical/nominal ones, are investigated. Under a theoretical point of view, formal and novel derivations are provided of the necessary and sufficient conditions allowing (i) a body arbitrarily rotating in space to rest in neutral equilibrium under the action of general constant-force generators, (ii) a body pivoting about a universal joint and acted upon by a number of zero-free-length springs to exhibit constant potential energy, and (iii) a leg of a Gough/Stewart-type manipulator to operate as a constant-force generator.

Optimal User Interface for a RIS by using Modern Input Devices

1991 ◽  
pp. 866-866
Author(s):  
J. Weber ◽  
Ch. Gärtner ◽  
S. Nissen-Meyer ◽  
U. Fink ◽  
Th. Hilbertz
Keyword(s):  
User Interface ◽  
Input Devices

A Conceptual Framework for Interoperability of Mobile User Interfaces with Ambient Computing Environments

2012 ◽  
pp. 200-216 ◽  
Author(s):  
Andreas Lorenz
Keyword(s):  
User Interfaces ◽  
User Interaction ◽  
Mobile User ◽  
Input Device ◽  
Input Devices ◽  
Interaction Styles ◽  
Application Logic ◽  
Computing Environments ◽  
Definition Of ◽  
Ambient Computing

The use of mobile and hand-held devices is a desirable option for implementation of user interaction with remote services from a distance, whereby the user should be able to select the input device depending on personal preferences, capabilities and availability of interaction devices. Because of the heterogeneity of available devices and interaction styles, the interoperability needs particular attention by the developer. This paper describes the design of a general solution to enable mobile devices to have control on services at remote hosts. The applied approach enhances the idea of separating the user interface from the application logic, leading to the definition of virtual or logical input devices physically separated from the controlled services.

Touch Screens for the Elderly

2011 ◽  
pp. 116-135 ◽  
Author(s):  
Holger Luczak ◽  
Christopher M. Schlick ◽  
Nicole Jochems ◽  
Sebastian Vetter ◽  
Bernhard Kausch
Keyword(s):  
Aging Process ◽  
Mental Workload ◽  
Eye Gaze ◽  
The Elderly ◽  
Touch Screen ◽  
Input Device ◽  
Age Group ◽  
Input Devices ◽  
Older Users ◽  
Information Input

The fast aging of many western and eastern societies and their increasing reliance on information technology create a compelling need to reconsider older users’ interactions with computers. Changes in perceptual and motor skill capabilities that often accompany the aging process bring important implications for the design of information input devices. This paper summarizes the results of a laboratory study with different information input device. Three different input devices –– mouse, touch screen and eye-gaze –– were analyzed concerning efficiency, effectiveness and mental workload with respect to the age group of the computer user. The results derived from data of 90 subjects between 20 and 75 years show that regardless of participant’s age group the best performance in terms of short execution time results from touch screen information input. This effect is even more pronounced for the elderly.

Relevance and Transferability for Parallel Mechanisms With Reconfigurable Platforms

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Xi Kang ◽  
Jian S. Dai
Keyword(s):  
System Theory ◽  
Parallel Mechanism ◽  
Geometric Model ◽  
Parallel Mechanisms ◽  
End Effector ◽  
Kinematic Coupling ◽  
Reconfigurable Platforms ◽  
Reconfigurable Platform

The parallel mechanism with a reconfigurable platform retains all advantages of parallel mechanisms and provides additional functions by virtue of the reconfigurable platform, leading to kinematic coupling between limbs that restricts development of the mechanism. This paper aims at dealing with kinematic coupling between limbs by investigating the transferability of limb constraints and their degrees of relevance to the platform constraints based on the geometric model of the mechanism. The paper applies screw-system theory to verifying the degree of relevance between limb constraint wrenches and platform constraint wrenches, and reveals the transferability of limb constraints, to obtain the final resultant wrenches and twists of the end effector. The proposed method is extended to parallel mechanisms with planar n-bar reconfigurable platforms, spherical n-bar reconfigurable platforms, and other spatial reconfigurable platforms and lends itself to a way of studying a parallel mechanism with a reconfigurable platform.

scholarly journals Pseudo-haptic feedback in medical teleoperation

2015 ◽  
Vol 1 (1) ◽  
pp. 160-163 ◽  
Author(s):  
Carsten Neupert ◽  
Sebastian Matich ◽  
Peter P. Pott ◽  
Christian Hatzfeld ◽  
Roland Werthschützky
Keyword(s):  
User Interface ◽  
Visual Perception ◽  
Virtual Environments ◽  
Mechanical Characteristic ◽  
Haptic Feedback ◽  
Surgical Robot ◽  
Interaction Forces ◽  
End Effector ◽  
Grasping Force ◽  
Coupling Characteristic

AbstractPseudo-haptic feedback is a haptic illusion based on a mismatch of haptic and visual perception. It is well known from applications in virtual environments. In this work, we discuss the usabiliy of the principle of pseudo-haptic feedback for teleoperation. Using pseudo-haptic feedback can ease the design of haptic medical tele-operation systems.Thereby a user’s grasping force at an isometric user interface is used to control the closing angle of an end effector of a surgical robot. To provide a realistic haptic feedback, the coupling characteristic of grasping force and end effector closing angle is changed depending on acting end effector interaction forces.With an experiment, we show the usability of pseudo-haptic feedback for discriminating compliances, comparable to the mechanical characteristic of muscles relaxed and contracted. The provided results base upon the data of 10 subjects, and 300 trails.

Analyses of Error and Precision of 6-DOF Platform

2012 ◽  
Vol 591-593 ◽  
pp. 2081-2086 ◽  
Author(s):  
Rui Ren ◽  
Chang Chun Ye ◽  
Guo Bin Fan
Keyword(s):  
Inverse Kinematics ◽  
Newton Iteration ◽  
Forward Kinematics ◽  
Parallel Mechanisms ◽  
End Effector ◽  
C Programming Language ◽  
C Programming ◽  
Manufacturing Tolerances ◽  
Parallel Robotics ◽  
Forward Kinematic

A particular subset of 6-DOF parallel mechanisms is known as Stewart platforms (or hexapod). Stewart platform characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. The biggest kinematics problem is parallel robotics which is the forward kinematics. On the basis of forward kinematic of 6-DOF platform, the algorithm model was built by Newton iteration, several computer programs were written in the MATLAB and Visual C++ programming language. The model is effective and real-time approved by forwards kinematics, inverse kinematics iteration and practical experiment. Analyzing the resource of error, get some related spectra map, top plat position and posture error corresponding every error resource respectively. By researching and comparing the error spectra map, some general results is concluded.

A Novel Origami Inspired Delta Mechanism with Flat Parallelogram Joints

2020 ◽  
pp. 1-22
Author(s):  
Merve Acer Kalafat ◽  
Hasan Sevinc ◽  
Shahrad Samankan ◽  
Atakan Altinkaynak ◽  
Zeynep Temel
Keyword(s):  
Design Methodology ◽  
Small Scale ◽  
Layer By Layer ◽  
Parallel Mechanisms ◽  
End Effector ◽  
High Speeds ◽  
Parallel Movement ◽  
Pick And Place ◽  
Kinematic Models ◽  
Kinematic Performance

Abstract In robotics, origami-based design methodology can be used to create small scale parallel mechanisms with easier assembly processes. Delta mechanisms are one of the famous parallel mechanism used mostly in pick and place operations due to their capability to reach high speeds and accelerations. In this work, we present a novel Delta mechanism fabricated with fully 2D layer by layer methods. In our design we have eliminated manual 3D processes in order to provide parallel movement of the links. We have designed a new flat parallelogram providing pure translations in X-Y-Z directions respecting to the conventional kinematic models for Delta mechanism. The assembly process is reduced to an only cut – laminate – repeat steps which are very basic operations in 2D. The kinematic performance of the mechanism has been analyzed using a 6 DoF position sensor placed on the end-effector. The mechanism has a 20x20x20 mm3 cubic stable workspace with a 17.5 mm radius circular footprint when it is completely flat. The tests were done for circular trajectories having 10 mm radius circles with different heights and circles with different radiuses in a specific height. Despite having no feedback control from the end effector, the mechanism was able to follow the trajectory with 1.5 mm RMS precision. We have also changed the materials of the flexible layers in passive links and presented the trajectory results of the end-effector showing how it effects the kinematic performance of the mechanism.

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