Rating and valuation of human haptic sensation

2004 ◽  
Vol 19 (1-4) ◽  
pp. 573-579 ◽  
Author(s):  
Mami Tanaka ◽  
Yu Numazawa
Keyword(s):  
Haptic Sensation

A remote instruction system empowered by tightly shared haptic sensation

2007 ◽  
Author(s):  
Hiroaki Nishino ◽  
Akira Yamaguchi ◽  
Tsuneo Kagawa ◽  
Kouichi Utsumiya
Keyword(s):  
Instruction System ◽  
Haptic Sensation

Framework for Network Based Manufacturing Training Through Telehaptics

Materials ◽  
2003 ◽  
Author(s):  
Dhananjay Joshi ◽  
T. Kesavadas
Keyword(s):  
Force Feedback ◽  
Training System ◽  
Shared Environment ◽  
The Internet ◽  
Haptic Information ◽  
Skill Sets ◽  
Ip Network ◽  
Haptic Communication ◽  
Simulation Systems ◽  
Haptic Sensation

Use of force feedback, or haptics, has increased the realism of virtual reality simulation systems over the last few years. In this research we propose a framework for the communication of haptic sensation in a shared environment over the Internet for developing novel manufacturing training system. This framework allows re-experiencing the sensation at geographically remote location by transmitting the haptic information over a TCP/IP network. We call this Tele-haptics. Using Tele-haptics, we propose a system where we can capture skill sets commonly associated with complex tasks such a die and tool polishing and communicate this to trainee over the internet. The trainee, using a Phantom Haptic system, can experience the process of polishing based on the master’s input. The framework for haptic communication is experimentally evaluated. The results of the experimental evaluation suggest that it is possible to transmit and recreate haptic features such as geometry and force characteristics.

Presentation of Assembly Condition and Subassembly Function Using Two Force Feedback Displays

2000 ◽  
Vol 12 (1) ◽  
pp. 2-10
Author(s):  
Ryoko Furusawa ◽  
◽  
Kazuaki Tanaka ◽  
Norihiro Abe ◽  
Katsuya Matsunaga ◽  
...  
Keyword(s):  
Force Feedback ◽  
Virtual Work ◽  
Daily Life ◽  
Reaction Force ◽  
The State ◽  
Work Space ◽  
Machine Parts ◽  
Haptic Sensation

Assembling is one of the important factors in our daily life. The aim of assembling is to obtain a particular function from the subassembly which is generated by putting some parts together. This fact shows that assembling machine parts is possibily the most appropriate example to exeute. If we assemble some machine parts, we decide the positions by their shapes, and then, make sure both the state of parts by reaction force fed back to the hand when a part touches other parts and the behavior of the subassembly. In addition, it is advisable to use both hands for assembly. In this research, we constructed a virtual work space using a force display which gives us haptic sensation returned from not only assembling operation but collaboration with both hands.

Synthesis and Workspace Study of Endoscopic Extenders With Flexible Stem

1997 ◽  
Vol 119 (3) ◽  
pp. 412-414 ◽  
Author(s):  
A. Faraz ◽  
S. Payandeh
Keyword(s):  
Laparoscopic Surgery ◽  
Endoscopic Surgery ◽  
Open Surgery ◽  
Hand Movement ◽  
Type Synthesis ◽  
Specific Design ◽  
Invasive Method ◽  
Flexible Stem ◽  
Haptic Sensation ◽  
Systematic Synthesis

Endoscopic surgery is a less invasive method of surgery as compared to open surgery. However, indirect vision, limited hand movement and lack of haptic sensation, combined with the tiring posture of holding long tools makes it a very difficult task for the surgeon to perform (Tendick, 93; Faraz, June, 95). Consequently, the surgeon has a fraction of the dexterity and sensing of that of open surgery. This is specially the case in laparoscopic surgery which is a specific branch of endoscopic surgery, and is performed on the abdomen. The dexterity problem associated with laparoscopic surgery arises from the fact that the present rigid stem extenders can approach the surgical site with some fix orientation (determined by the connecting line between the position of surgical site and the port of entry). Lack of 2 DOF at the stem, to orient the tool’s tip to the desired orientation near the surgical site, prevents the surgeon from having the required dexterity and agility. By adding revolute/spherical joints on the stem, the required internal capability in orienting the tool can be achieved, and hence provide more dexterity for the surgeon. Although, there has been some publication in the literature about different design possibilities (e.g., Rinninsland, 93; Melzer, 93; Neisius, 94), as well as U.S. patents (Matsumaru, 92; Heimberger, 94), they are all dealing with special designs with specific design focus. There is a lack of general study of flexible endoscopic extenders with wider design objectives. For example, such objectives can be: (a) general type synthesis of the joint design, (b) formulation of workspace requirements of laparoscopic extenders, and (c) comparative study of different designs in search of the optimal design(s). The objective of this report is to have a systematic synthesis of the joints, as well as formulate the dexterous workspace for laparoscopic extenders with flexible stem, in order to find the optimum design.

A Miniature MR Actuator With Impedance Sensing Mechanism for Haptic Applications

2012 ◽  
Author(s):  
Tae-Heon Yang ◽  
Jeong-Hoi Koo ◽  
Sang-Youn Kim ◽  
Dong-Soo Kwon
Keyword(s):  
Electronic Devices ◽  
Impedance Change ◽  
Solenoid Coil ◽  
Impedance Sensing ◽  
Resistive Force ◽  
Sensing Mechanism ◽  
Mr Fluids ◽  
Haptic Sensation ◽  
Sensing Performance ◽  
Small Stroke

This paper presents a miniature haptic actuator based on MR fluids, which is designed to convey realistic haptic sensations to users in small electronic devices. The proposed MR actuator can create various kinaesthetic sensations. The haptic sensation, which is generated in the form of resistive force, should vary according to the stroke of the actuator (or the pressed depth of the plunger). Thus, a sensing method for gauging the pressed depth should be integrated into the proposed actuator for demonstrating its real-world haptic application. To determine the pressed depth of the MR actuator, this study proposes an impedance sensing mechanism. The proposed sensing method measures the impedance change of the solenoid coil embedded in the actuator in the form of voltages to estimate the pressed depth. Using a prototype actuator, the sensing performance of the proposed sensing method, was evaluated. The results show that the sensitivity of the proposed impedance sensing method is sufficient to regulate the output resistive force over a small stroke range of the actuator.

Application of Haptic Navigation to Modify Free-Form Surfaces Through Specified Points and Curves

2002 ◽  
Vol 2 (4) ◽  
pp. 265-276 ◽  
Author(s):  
Masatake Higashi ◽  
Nobuaki Aoki ◽  
Takanobu Kaneko
Keyword(s):  
Real Time ◽  
Force Feedback ◽  
Correction Function ◽  
Free Form ◽  
Cardinal Spline ◽  
Trimmed Surface ◽  
Pass Through ◽  
Free Form Surfaces ◽  
The Given ◽  
Haptic Sensation

In this paper, we propose a method which modifies free-form surfaces to pass through not only specified points, but also specified curves with the assistance of haptic navigation. Using the method, designers of aesthetic shapes, such as a car body, can manipulate the model of the shape in real-time looking at its stereoscopic image and feeling its haptic sensation as if there were a clay model. The haptic navigation helps designers, letting them capture and recognize the object easily and constraining their operation to the appropriate direction or along the specified geometric element. In addition, the designers can get force feedback proportional to the modification quantity. To obtain a smoothly modified shape, we introduce correction functions to the given surface equations. A correction function distributes the effect of the change over the whole shape or the specified region according to the distance of the point in the normal direction of the given surface. The values of the correction function are 1 at the indicated point and 0 at the boundaries, and the shape is modified to keep the original smoothness. The correction values of the functions at the indicated points are determined to pass through all of them by solving a linear equation. To apply this to the specified curves including boundaries of a trimmed surface, we treat points composing the curve similarly to the point specification by representing them with a Cardinal spline. We have confirmed that the system is effective to manipulate a shape with its feeling and that smooth surfaces are obtained in real time as designers want.

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