Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback

Robotic simulators for tissue examination training with multimodal sensory feedback

Tissue examination by hand remains an essential technique in clinical practice. The effective application depends on skills in sensorimotor coordination, mainly involving haptic, visual, and auditory feedback. The skills clinicians have to learn can be as subtle as regulating finger pressure with breathing, choosing palpation action, monitoring involuntary facial and vocal expressions in response to palpation, and using pain expressions both as a source of information and as a constraint on physical examination. Patient simulators can provide a safe learning platform to novice physicians before trying real patients. This paper reviews state-of-the-art medical simulators for the training for the first time with a consideration of providing multimodal feedback to learn as many manual examination techniques as possible. The study summarizes current advances in tissue examination training devices simulating different medical conditions and providing different types of feedback modalities. Opportunities with the development of pain expression, tissue modeling, actuation, and sensing are also analyzed to support the future design of effective tissue examination simulators

Design and Implementation of an Interactive Surface System with Controllable Shape and Softness

「平面的で硬い」という従来のディスプレイの物理的制約は、ユーザが3次元的な形状を有するデータを扱う場合や触覚的な情報を有するデータと対話する場合に様々な制限を与えている. また, 平面的なディスプレイ上で複雑な立体形状を閲覧・モデリングするためには, 頻繁な視点移動や複雑な頂点操作等を伴うGUI操作が必要である. このような問題を解決するため, 砂, 粘土のような非平面的・柔軟な素材をサーフェスに取り入れて, 従来のディスプレイにできない異なるインタラクションを可能にした研究が行われていたが, 一つのデバイスで異なる物理性質を表現できるディスプレイはあまり研究されていない.本研究は細かなパーティクルと気圧操作による硬さ制御技術に着目し, 硬度可変ディスプレイの実装を行った. 硬さ制御によって, 軟らかいときに形状の変形や, 用途に応じて形状を維持することもできる.このディスプレイの可能性を探るため, 硬さ制御を利用したモデリングアプリケーションを開発した. このアプリケーションでは, モデリング操作に応じて, 適切な硬さを選択する事ができ, モデルが完成した時にディスプレイを硬化し形状を維持させることが可能である.また, 深度カメラを用いることで, タッチ入力による彩色が可能になり, 作成したモデルをスキャンし, CADデータとして保存することもできる. さらに, 3Dプリンターで出力することも可能にした.このシステムは、従来のモデリング操作をより直感的する事ができるが, システム単独で形状を生成することができない. そこで, 本研究では粒子運搬技術を用いて, ディスプレイの形状アクチュエーション手法も提案する. この手法では, モデルの大まかな形状を生成することで, ユーザは形状の細部を自由にカスタマイズすることができる. この手法は, 硬さ制御技術と同じくパーティクルと空気アクチュエーションを用いているため, 低コストかつシンプルなシステムで実現することができる.電気通信大学201

Beyond jamming grippers: granular material in robotics

Robot grippers based on the jamming of granular material have been studied widely in previous years. Recently, also other benefits and challenges of granular material have emerged for robotics. We discuss various functions of granular matter in robotic actuation, sensory processing, locomotion, and manipulation. We also provide a review of the design and methods of robots for moving in or on challenging granular environments. Drawing on the properties of granular material and their potential applications, we propose our unique perspectives and innovative ideas for future research and development in this field

Granular jamming based controllable organ design for abdominal palpation

Medical manikins play an essential role in the training process of physicians. Currently, most available simulators for abdominal palpation training do not contain controllable organs for dynamic simulations. In this paper, we present a soft robotics controllable liver that can simulate various liver diseases and symptoms for effective and realistic palpation training. The tumors in the liver model are designed based on granular jamming with positive pressure, which converts the fluid-like impalpable particles to a solid-like tumor state by applying low positive pressure on the membrane. Through inflation, the tumor size, liver stiffness, and liver size can be controlled from normal liver state to various abnormalities including enlarged liver, cirrhotic liver, and multiple cancerous and malignant tumors. Mechanical tests have been conducted in the study to evaluate the liver design and the role of positive pressure granular jamming in tumor simulations

PolySurface:a design approach for rapid prototyping of shape-changing displays using semi-solid surfaces

We present a design approach for rapid fabrication of high fidelity interactive shape-changing displays using bespoke semi-solid surfaces. This is achieved by segmenting virtual representations of the given data and mapping it to a dynamic physical polygonal surface. First, we establish the design and fabrication approach for generating semi-solid reconfigurable surfaces. Secondly, we demonstrate the generalizability of this approach by presenting design sessions using datasets provided by experts from a diverse range of domains. Thirdly, we evaluate user engagement with the prototype hardware systems that are built. We learned that all participants, all of whom had no previous interaction with shape-changing displays, were able to successfully design interactive hardware systems that physically represent data specific to their work. Finally, we reflect on the content generated to understand if our approach is effective at representing intended output based on a set of user defined functionality requirements

Analysis and Classification of Shape-Changing Interfaces for Design and Application-based Research

Shape-changing interfaces are physically tangible, interactive devices, surfaces, or spaces that allow for rich, organic, and novel experiences with computational devices. Over the last 15 years, research has produced functional prototypes over many use applications; reviews have identified themes and possible future directions but have not yet looked at possible design or application-based research. Here, we gather this information together to provide a reference for designers and researchers wishing to build upon existing prototyping work, using synthesis and discussion of existing shape-changing interface reviews and comprehensive analysis and classification of 84 shape-changing interfaces. Eight categories of prototype are identified alongside recommendations for the field

PolySurface: a design approach for rapid prototyping of shape-changing displays using semi-solid surfaces

We present a design approach for rapid fabrication of high fidelity interactive shape-changing displays using bespoke semi-solid surfaces. This is achieved by segmenting virtual representations of the given data and mapping it to a dynamic physical polygonal surface. First, we establish the design and fabrication approach for generating semi-solid reconfigurable surfaces. Secondly, we demonstrate the generalizability of this approach by presenting design sessions using datasets provided by experts from a diverse range of domains. Thirdly, we evaluate user engagement with the prototype hardware systems that are built. We learned that all participants, all of whom had no previous interaction with shape-changing displays, were able to successfully design interactive hardware systems that physically represent data specific to their work. Finally, we reflect on the content generated to understand if our approach is effective at representing intended output based on a set of user defined functionality requirements