62 research outputs found
Contactless Haptic Display Through Magnetic Field Control
Haptic rendering enables people to touch, perceive, and manipulate virtual
objects in a virtual environment. Using six cascaded identical hollow disk
electromagnets and a small permanent magnet attached to an operator's finger,
this paper proposes and develops an untethered haptic interface through
magnetic field control. The concentric hole inside the six cascaded
electromagnets provides the workspace, where the 3D position of the permanent
magnet is tracked with a Microsoft Kinect sensor. The driving currents of six
cascaded electromagnets are calculated in real-time for generating the desired
magnetic force. Offline data from an FEA (finite element analysis) based
simulation, determines the relationship between the magnetic force, the driving
currents, and the position of the permanent magnet. A set of experiments
including the virtual object recognition experiment, the virtual surface
identification experiment, and the user perception evaluation experiment were
conducted to demonstrate the proposed system, where Microsoft HoloLens
holographic glasses are used for visual rendering. The proposed magnetic haptic
display leads to an untethered and non-contact interface for natural haptic
rendering applications, which overcomes the constraints of mechanical linkages
in tool-based traditional haptic devices
Challenges of continuum robots in clinical context: a review
With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate of progress slowed as limits of size and controllable degrees of freedom were reached. Continuum robots came with the potential to deliver a step change in the next generation of medical devices, by providing better access, safer interactions and making new procedures possible. Over the last few years, several continuum robotic systems have been launched commercially and have been increasingly adopted in hospitals. Despite the clear progress achieved, continuum robots still suffer from design complexity hindering their dexterity and scalability. Recent advances in actuation methods have looked to address this issue, offering alternatives to commonly employed approaches. Additionally, continuum structures introduce significant complexity in modelling, sensing, control and fabrication; topics which are of particular focus in the robotics community. It is, therefore, the aim of the presented work to highlight the pertinent areas of active research and to discuss the challenges to be addressed before the potential of continuum robots as medical devices may be fully realised
2011 Annual Research Symposium Abstract Book
2011 annual volume of abstracts for science research projects conducted by students at Trinity College
Flow design optimization of blood pumps considering hemolysis
Magdeburg, Univ., Fak. fĂĽr Verfahrens- und Systemtechnik, Diss., 2015von Hai Y
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