1,318 research outputs found
A haptic-enabled multimodal interface for the planning of hip arthroplasty
Multimodal environments help fuse a diverse range of sensory modalities, which is particularly important when integrating the complex data involved in surgical preoperative planning. The authors apply a multimodal interface for preoperative planning of hip arthroplasty with a user interface that integrates immersive stereo displays and haptic modalities. This article overviews this multimodal application framework and discusses the benefits of incorporating the haptic modality in this area
Optimal dimensional synthesis of force feedback lower arm exoskeletons
This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic interfaces. Multiple design objectives are discussed and classified for the devices and the optimization problem to study the trade-offs between these criteria is formulated. Dimensional syntheses are performed for optimal global kinematic and dynamic performance, utilizing a Pareto front based framework, for two spherical parallel mechanisms that satisfy the ergonomic necessities of a human forearm and wrist. Two optimized mechanisms are compared and discussed in the light of multiple design criteria. Finally, kinematic structure and dimensions of an optimal exoskeleton are decided
Virtual reality training and assessment in laparoscopic rectum surgery
Background: Virtual-reality (VR) based simulation techniques offer an efficient and low cost alternative to conventional surgery training. This article describes a VR training and assessment system in laparoscopic rectum surgery. Methods: To give a realistic visual performance of interaction between membrane tissue and surgery tools, a generalized cylinder based collision detection and a multi-layer mass-spring model are presented. A dynamic assessment model is also designed for hierarchy training evaluation. Results: With this simulator, trainees can operate on the virtual rectum with both visual and haptic sensation feedback simultaneously. The system also offers surgeons instructions in real time when improper manipulation happens. The simulator has been tested and evaluated by ten subjects. Conclusions: This prototype system has been verified by colorectal surgeons through a pilot study. They believe the visual performance and the tactile feedback are realistic. It exhibits the potential to effectively improve the surgical skills of trainee surgeons and significantly shorten their learning curve. © 2014 John Wiley & Sons, Ltd
Trajectory Deformations from Physical Human-Robot Interaction
Robots are finding new applications where physical interaction with a human
is necessary: manufacturing, healthcare, and social tasks. Accordingly, the
field of physical human-robot interaction (pHRI) has leveraged impedance
control approaches, which support compliant interactions between human and
robot. However, a limitation of traditional impedance control is that---despite
provisions for the human to modify the robot's current trajectory---the human
cannot affect the robot's future desired trajectory through pHRI. In this
paper, we present an algorithm for physically interactive trajectory
deformations which, when combined with impedance control, allows the human to
modulate both the actual and desired trajectories of the robot. Unlike related
works, our method explicitly deforms the future desired trajectory based on
forces applied during pHRI, but does not require constant human guidance. We
present our approach and verify that this method is compatible with traditional
impedance control. Next, we use constrained optimization to derive the
deformation shape. Finally, we describe an algorithm for real time
implementation, and perform simulations to test the arbitration parameters.
Experimental results demonstrate reduction in the human's effort and
improvement in the movement quality when compared to pHRI with impedance
control alone
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