Research on rehabilitation training control based on virtual force feedback

2014 ◽  
Author(s):  
Lan Wang ◽  
Yuanhang Sun ◽  
Jin Peng
Keyword(s):  
Force Feedback ◽  
Rehabilitation Training ◽  
Virtual Force ◽  
Training Control

scholarly journals Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

2020 ◽  
Vol 10 (22) ◽  
pp. 8031
Author(s):  
Long Qin ◽  
Fanghao Huang ◽  
Zheng Chen ◽  
Wei Song ◽  
Shiqiang Zhu
Keyword(s):  
Force Feedback ◽  
Inverse Kinematic ◽  
Real Time Control ◽  
Kinematics Model ◽  
Time Control ◽  
Virtual Force ◽  
Control Scheme ◽  
Continuum Manipulators ◽  
Transmission Structure ◽  
And Control

Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc. However, the hyper-redundancy, which endows much dexterity and flexibility, brings a huge challenge to the kinematics solution and control of the continuum manipulators. Due to the pseudoinverse calculation of high-order Jacobian matrix or iteration, many inverse kinematic solution approaches of continuum manipulators are very time-consuming, which extremely limit their applicability in real-time control. Additionally, it is often difficult for the manipulators to perform the tasks well in complex scenarios due to lack of human intervention. Therefore, in this paper, a simplified kinematics model of a typical hyper-redundant manipulator is proposed based on its unique geometry relationships, where the mapping relationships between the actuators’ rotation and the end-effector’s position are derived through the analysis of its driving subsystem and motion subsystem, in particular the joint modules. To perform the tasks of manipulators with the help of operators, a teleoperation control scheme with modified wave transmission structure is designed to achieve the guaranteed stability and improved transparency, and the leader’s trajectory and generated force feedback are the transmitted signals in the communication channel. Specifically, a virtual force feedback generation algorithm is developed in the teleoperation control scheme via the processing tracking errors, which can improve the operators’ assistance and perception during the teleoperation process. The practical experiments with comparative wave variable structures in two different sets are implemented to verify the effectiveness of proposed kinematics model and control scheme.

Application of Master-Slave System with Virtual Force-Feedback

2003 ◽  
Vol 2003 (0) ◽  
pp. 106
Author(s):  
M. Ando ◽  
N. Tsuda ◽  
N. Kato ◽  
Y. Nomura ◽  
H. Matsui
Keyword(s):  
Force Feedback ◽  
Slave System ◽  
Virtual Force ◽  
Master Slave System

Virtual Force Feedback-Based 3D Master/Slave Tele-Nanomanipulation in SEM

2012 ◽  
Vol 20 ◽  
pp. 109-116 ◽  
Author(s):  
Dong Jie Li ◽  
Wei Bin Rong ◽  
Li Ning Sun ◽  
Wan Zhe Xiao ◽  
Yu Zou
Keyword(s):  
Enhancement Factor ◽  
Force Feedback ◽  
Stability Criteria ◽  
Zno Nanowire ◽  
3D Manipulation ◽  
Scale Factors ◽  
Virtual Force ◽  
Virtual Coupling ◽  
The Stability ◽  
Scanning Electron

In this paper, we focus on the need for real time nanomanipulation, a 3D Master/Slave tele-nanomanipulation platform is studied with the haptic device (Omega3) as the master and the nanopositioner (Attocube) as the slave, working in scanning electron microscope (SEM). The 3D manipulation environment is developed with the help of VR technology. The platform is controlled by the enhanced virtual coupling (EVC) algorithm. The stability of the platform is discussed with Llewellyns stability criteria. Scale factors and enhancement factor of the control system are determined, according to the force applied on master and slave terminals. Performances of the platform are tested with the ZnO nanowire manipulation experiments. Experiment results show that the platform has good performance while guaranteeing stability on ZnO nanowires manipulation in SEM using the method presented in this paper.

Maxillofacial surgery using virtual force feedback

2011 ◽  
Author(s):  
Amjad Ali Syed ◽  
Xingguang Duan ◽  
Congjun Gao ◽  
Xiangtao Wang ◽  
Qiang Huang
Keyword(s):  
Force Feedback ◽  
Maxillofacial Surgery ◽  
Virtual Force

scholarly journals A Cable-Driven Three-DOF Wrist Rehabilitation Exoskeleton With Improved Performance

2021 ◽  
Vol 15 ◽  
Author(s):  
Ke Shi ◽  
Aiguo Song ◽  
Ye Li ◽  
Huijun Li ◽  
Dapeng Chen ◽  
...  
Keyword(s):  
Force Feedback ◽  
Dc Motor ◽  
Degree Of Freedom ◽  
Compensation Mechanism ◽  
Training Algorithm ◽  
Cable Tension ◽  
Rehabilitation Training ◽  
Improved Performance ◽  
Three Degree Of Freedom ◽  
Passive Training

This paper developed a cable-driven three-degree-of-freedom (DOF) wrist rehabilitation exoskeleton actuated by the distributed active semi-active (DASA) system. Compared with the conventional cable-driven robots, the workspace of this robot is increased greatly by adding the rotating compensation mechanism and by optimizing the distribution of the cable attachment points. In the meanwhile, the efficiency of the cable tension is improved, and the parasitic force (the force acting on the joint along the limb) is reduced. Besides, in order to reduce the effects of compliant elements (e.g., cables or Bowden cables) between the actuators and output, and to improve the force bandwidth, we designed the DASA system composed of one geared DC motor and four magnetorheological (MR) clutches, which has low output inertia. A fast unbinding strategy is presented to ensure safety in abnormal conditions. A passive training algorithm and an assist-as-needed (AAN) algorithm were implemented to control the exoskeleton. Several experiments were conducted on both healthy and impaired subjects to test the performance and effectiveness of the proposed system for rehabilitation. The results show that the system can meet the needs of rehabilitation training for workspace and force-feedback, and provide efficient active and passive training.

Safety Control Method of Robot-Assisted Cataract Surgery with Virtual Fixture and Virtual Force Feedback

2019 ◽  
Vol 97 (1) ◽  
pp. 17-32
Author(s):  
Yongfei Yang ◽  
Zhongliang Jiang ◽  
Yuanyuan Yang ◽  
Xiaozhi Qi ◽  
Ying Hu ◽  
...  
Keyword(s):  
Cataract Surgery ◽  
Force Feedback ◽  
Control Method ◽  
Robot Assisted ◽  
Safety Control ◽  
Virtual Force ◽  
Virtual Fixture

Tele-Robotic Assisted Dental Implant Surgery with Virtual Force Feedback

2014 ◽  
Vol 12 (1) ◽  
Author(s):  
Amjad Ali Syed ◽  
Amir Mahmood Soomro ◽  
Arbab Nighat Khizar ◽  
Xing-guang Duan ◽  
Huang Qiang ◽  
...  
Keyword(s):  
Dental Implant ◽  
Force Feedback ◽  
Implant Surgery ◽  
Robotic Assisted ◽  
Virtual Force ◽  
Dental Implant Surgery

Haptic Augmented Reality: Taxonomy and an Example of Stiffness Modulation

2009 ◽  
Vol 18 (5) ◽  
pp. 387-408 ◽  
Author(s):  
Seokhee Jeon ◽  
Seungmoon Choi
Keyword(s):  
Augmented Reality ◽  
Force Feedback ◽  
Real Object ◽  
Psychophysical Experiment ◽  
Contact Detection ◽  
Research Issues ◽  
Virtual Force ◽  
Virtual Forces ◽  
Perceptual Performance ◽  
Unexplored Area

Haptic augmented reality (AR) enables the user to feel a real environment augmented with synthetic haptic stimuli. This article addresses two important topics in haptic AR. First, a new taxonomy for haptic AR is established based on a composite visuo-haptic reality-virtuality continuum extended from the conventional continuum for visual AR. Previous studies related to haptic AR are reviewed and classified using the composite continuum, and associated research issues are discussed. Second, the feasibility of haptically modulating the feel of a real object with the aid of virtual force feedback is investigated, with the stiffness as a goal haptic property. All required algorithms for contact detection, stiffness modulation, and force control are developed, and their individual performances are thoroughly evaluated. The resulting haptic AR system is also assessed in a psychophysical experiment, demonstrating its competent perceptual performance for stiffness modulation. To our knowledge, this work is among the first efforts in haptic AR for systematic augmentation of real object attributes with virtual forces, and it serves as an initial building block toward a general haptic AR system. Finally, several research issues identified during the feasibility study are introduced, with the aim of eliciting more research interest in this exciting yet unexplored area.

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