The Analysis of design and manufacturing tasks using haptic and immersive VR - Some case studies

The use of virtual reality in interactive design and manufacture has been researched extensively but the practical application of this technology in industry is still very much in its infancy. This is surprising as one would have expected that, after some 30 years of research commercial applications of interactive design or manufacturing planning and analysis would be widespread throughout the product design domain. One of the major but less well known advantages of VR technology is that logging the user gives a great deal of rich data which can be used to automatically generate designs or manufacturing instructions, analyse design and manufacturing tasks, map engineering processes and, tentatively, acquire expert knowledge. The authors feel that the benefits of VR in these areas have not been fully disseminated to the wider industrial community and - with the advent of cheaper PC-based VR solutions - perhaps a wider appreciation of the capabilities of this type of technology may encourage companies to adopt VR solutions for some of their product design processes. With this in mind, this paper will describe in detail applications of haptics in assembly demonstrating how user task logging can lead to the analysis of design and manufacturing tasks at a level of detail not previously possible as well as giving usable engineering outputs. The haptic 3D VR study involves the use of a Phantom and 3D system to analyse and compare this technology against real-world user performance. This work demonstrates that the detailed logging of tasks in a virtual environment gives considerable potential for understanding how virtual tasks can be mapped onto their real world equivalent as well as showing how haptic process plans can be generated in a similar manner to the conduit design and assembly planning HMD VR tool reported in PART A. The paper concludes with a view as to how the authors feel that the use of VR systems in product design and manufacturing should evolve in order to enable the industrial adoption of this technology in the future

Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

The simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force feedback on the fingers can be provided by a hand exoskeleton, but such a device is very complex, invasive, and costly. In this paper, we present a new device, called HaptiHand, which provides position and force input as well as haptic output for four fingers in a noninvasive way, and is mounted on a standard force-feedback arm. The device incorporates four independent modules, one for each finger, inside an ergonomic shape, allowing the user to generate a wide range of virtual hand configurations to grasp naturally an object. It is also possible to reconfigure the virtual finger positions when holding an object. The paper explains how the device is used to control a virtual hand in order to perform dexterous grasping operations. The structure of the HaptiHand is described through the major technical solutions required and tests of key functions serve as validation process for some key requirements. Also, an effective grasping task illustrates some capabilities of the HaptiHand

Methods and Tools for Objective Assessment of Psychomotor Skills in Laparoscopic Surgery

Training and assessment paradigms for laparoscopic surgical skills are evolving from traditional mentor–trainee tutorship towards structured, more objective and safer programs. Accreditation of surgeons requires reaching a consensus on metrics and tasks used to assess surgeons’ psychomotor skills. Ongoing development of tracking systems and software solutions has allowed for the expansion of novel training and assessment means in laparoscopy. The current challenge is to adapt and include these systems within training programs, and to exploit their possibilities for evaluation purposes. This paper describes the state of the art in research on measuring and assessing psychomotor laparoscopic skills. It gives an overview on tracking systems as well as on metrics and advanced statistical and machine learning techniques employed for evaluation purposes. The later ones have a potential to be used as an aid in deciding on the surgical competence level, which is an important aspect when accreditation of the surgeons in particular, and patient safety in general, are considered. The prospective of these methods and tools make them complementary means for surgical assessment of motor skills, especially in the early stages of training. Successful examples such as the Fundamentals of Laparoscopic Surgery should help drive a paradigm change to structured curricula based on objective parameters. These may improve the accreditation of new surgeons, as well as optimize their already overloaded training schedules

Virtual reality for assembly methods prototyping: a review

Assembly planning and evaluation is an important component of the product design process in which details about how parts of a new product will be put together are formalized. A well designed assembly process should take into account various factors such as optimum assembly time and sequence, tooling and fixture requirements, ergonomics, operator safety, and accessibility, among others. Existing computer-based tools to support virtual assembly either concentrate solely on representation of the geometry of parts and fixtures and evaluation of clearances and tolerances or use simulated human mannequins to approximate human interaction in the assembly process. Virtual reality technology has the potential to support integration of natural human motions into the computer aided assembly planning environment (Ritchie et al. in Proc I MECH E Part B J Eng 213(5):461–474, 1999). This would allow evaluations of an assembler’s ability to manipulate and assemble parts and result in reduced time and cost for product design. This paper provides a review of the research in virtual assembly and categorizes the different approaches. Finally, critical requirements and directions for future research are presented

A Novel Haptic Simulator for Evaluating and Training Salient Force-Based Skills for Laparoscopic Surgery

Laparoscopic surgery has evolved from an \u27alternative\u27 surgical technique to currently being considered as a mainstream surgical technique. However, learning this complex technique holds unique challenges to novice surgeons due to their \u27distance\u27 from the surgical site. One of the main challenges in acquiring laparoscopic skills is the acquisition of force-based or haptic skills. The neglect of popular training methods (e.g., the Fundamentals of Laparoscopic Surgery, i.e. FLS, curriculum) in addressing this aspect of skills training has led many medical skills professionals to research new, efficient methods for haptic skills training. The overarching goal of this research was to demonstrate that a set of simple, simulator-based haptic exercises can be developed and used to train users for skilled application of forces with surgical tools. A set of salient or core haptic skills that underlie proficient laparoscopic surgery were identified, based on published time-motion studies. Low-cost, computer-based haptic training simulators were prototyped to simulate each of the identified salient haptic skills. All simulators were tested for construct validity by comparing surgeons\u27 performance on the simulators with the performance of novices with no previous laparoscopic experience. An integrated, \u27core haptic skills\u27 simulator capable of rendering the three validated haptic skills was built. To examine the efficacy of this novel salient haptic skills training simulator, novice participants were tested for training improvements in a detailed study. Results from the study demonstrated that simulator training enabled users to significantly improve force application for all three haptic tasks. Research outcomes from this project could greatly influence surgical skills simulator design, resulting in more efficient training

Exploring virtual reality object perception following sensory-motor interactions with different visuo-haptic collider properties.

Interacting with the environment often requires the integration of visual and haptic information. Notably, perceiving external objects depends on how our brain binds sensory inputs into a unitary experience. The feedback provided by objects when we interact (through our movements) with them might then influence our perception. In VR, the interaction with an object can be dissociated by the size of the object itself by means of 'colliders' (interactive spaces surrounding the objects). The present study investigates possible after-effects in size discrimination for virtual objects after exposure to a prolonged interaction characterized by visual and haptic incongruencies. A total of 96 participants participated in this virtual reality study. Participants were distributed into four groups, in which they were required to perform a size discrimination task between two cubes before and after 15 min of a visuomotor task involving the interaction with the same virtual cubes. Each group interacted with a different cube where the visual (normal vs. small collider) and the virtual cube's haptic (vibration vs. no vibration) features were manipulated. The quality of interaction (number of touches and trials performed) was used as a dependent variable to investigate the performance in the visuomotor task. To measure bias in size perception, we compared changes in point of subjective equality (PSE) before and after the task in the four groups. The results showed that a small visual collider decreased manipulation performance, regardless of the presence or not of the haptic signal. However, change in PSE was found only in the group exposed to the small visual collider with haptic feedback, leading to increased perception of the cube size. This after-effect was absent in the only visual incongruency condition, suggesting that haptic information and multisensory integration played a crucial role in inducing perceptual changes. The results are discussed considering the recent findings in visual-haptic integration during multisensory information processing in real and virtual environments

Combining physical constraints with geometric constraint-based modeling for virtual assembly

The research presented in this dissertation aims to create a virtual assembly environment capable of simulating the constant and subtle interactions (hand-part, part-part) that occur during manual assembly, and providing appropriate feedback to the user in real-time. A virtual assembly system called SHARP System for Haptic Assembly and Realistic Prototyping is created, which utilizes simulated physical constraints for part placement during assembly.;The first approach taken in this research attempt utilized Voxmap Point Shell (VPS) software for implementing collision detection and physics-based modeling in SHARP. A volumetric approach, where complex CAD models were represented by numerous small cubic-voxel elements was used to obtain fast physics update rates (500--1000 Hz). A novel dual-handed haptic interface was developed and integrated into the system allowing the user to simultaneously manipulate parts with both hands. However, coarse model approximations used for collision detection and physics-based modeling only allowed assembly when minimum clearance was limited to ∼8-10%.;To provide a solution to the low clearance assembly problem, the second effort focused on importing accurate parametric CAD data (B-Rep) models into SHARP. These accurate B-Rep representations are used for collision detection as well as for simulating physical contacts more accurately. A new hybrid approach is presented, which combines the simulated physical constraints with geometric constraints which can be defined at runtime. Different case studies are used to identify the suitable combination of methods (collision detection, physical constraints, geometric constraints) capable of best simulating intricate interactions and environment behavior during manual assembly. An innovative automatic constraint recognition algorithm is created and integrated into SHARP. The feature-based approach utilized for the algorithm design, facilitates faster identification of potential geometric constraints that need to be defined. This approach results in optimized system performance while providing a more natural user experience for assembly