1,578 research outputs found
Prevalence of haptic feedback in robot-mediated surgery : a systematic review of literature
© 2017 Springer-Verlag. This is a post-peer-review, pre-copyedit version of an article published in Journal of Robotic Surgery. The final authenticated version is available online at: https://doi.org/10.1007/s11701-017-0763-4With the successful uptake and inclusion of robotic systems in minimally invasive surgery and with the increasing application of robotic surgery (RS) in numerous surgical specialities worldwide, there is now a need to develop and enhance the technology further. One such improvement is the implementation and amalgamation of haptic feedback technology into RS which will permit the operating surgeon on the console to receive haptic information on the type of tissue being operated on. The main advantage of using this is to allow the operating surgeon to feel and control the amount of force applied to different tissues during surgery thus minimising the risk of tissue damage due to both the direct and indirect effects of excessive tissue force or tension being applied during RS. We performed a two-rater systematic review to identify the latest developments and potential avenues of improving technology in the application and implementation of haptic feedback technology to the operating surgeon on the console during RS. This review provides a summary of technological enhancements in RS, considering different stages of work, from proof of concept to cadaver tissue testing, surgery in animals, and finally real implementation in surgical practice. We identify that at the time of this review, while there is a unanimous agreement regarding need for haptic and tactile feedback, there are no solutions or products available that address this need. There is a scope and need for new developments in haptic augmentation for robot-mediated surgery with the aim of improving patient care and robotic surgical technology further.Peer reviewe
Tactile Weight Rendering: A Review for Researchers and Developers
Haptic rendering of weight plays an essential role in naturalistic object
interaction in virtual environments. While kinesthetic devices have
traditionally been used for this aim by applying forces on the limbs, tactile
interfaces acting on the skin have recently offered potential solutions to
enhance or substitute kinesthetic ones. Here, we aim to provide an in-depth
overview and comparison of existing tactile weight rendering approaches. We
categorized these approaches based on their type of stimulation into asymmetric
vibration and skin stretch, further divided according to the working mechanism
of the devices. Then, we compared these approaches using various criteria,
including physical, mechanical, and perceptual characteristics of the reported
devices and their potential applications. We found that asymmetric vibration
devices have the smallest form factor, while skin stretch devices relying on
the motion of flat surfaces, belts, or tactors present numerous mechanical and
perceptual advantages for scenarios requiring more accurate weight rendering.
Finally, we discussed the selection of the proposed categorization of devices
and their application scopes, together with the limitations and opportunities
for future research. We hope this study guides the development and use of
tactile interfaces to achieve a more naturalistic object interaction and
manipulation in virtual environments.Comment: 15 pages, 2 tables, 3 figures, surve
Rendering of Pressure and Textures Using Wearable Haptics in Immersive VR Environments
Haptic systems have only recently started to be designed with wearability
in mind. Compact, unobtrusive, inexpensive, easy-to-wear, and
lightweight haptic devices enable researchers to provide compelling
touch sensations to multiple parts of the body, significantly increasing
the applicability of haptics in many fields, such as robotics, rehabilitation,
gaming, and immersive systems. In this respect, wearable
haptics has a great potential in the fields of virtual and augmented
reality. Being able to touch virtual objects in a wearable and unobtrusive
way may indeed open new exciting avenues for the fields of
haptics and VR. This work presents a novel wearable haptic system
for immersive virtual reality experiences. It conveys the sensation
of touching objects made of different materials, rendering pressure
and texture stimuli through a moving platform and a vibrotactile
abbrv-doi-hyperref-narrowmotor. The device is composed of two
platforms: one placed on the nail side of the finger and one in contact
with the finger pad, connected by three cables. One small servomotor
controls the length of the cables, moving the platform towards or
away from the fingertip. One voice coil actuator, embedded in the
platform, provides vibrotactile stimuli to the user
Haptics: Science, Technology, Applications
This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility
Wearable haptic systems for the fingertip and the hand: taxonomy, review and perspectives
In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand
A fabric-based approach for wearable haptics
In recent years, wearable haptic systems (WHS) have gained increasing attention as a novel and exciting paradigm for human-robot interaction (HRI).These systems can be worn by users, carried around, and integrated in their everyday lives, thus enabling a more natural manner to deliver tactile cues.At the same time, the design of these types of devices presents new issues: the challenge is the correct identification of design guidelines, with the two-fold goal of minimizing system encumbrance and increasing the effectiveness and naturalness of stimulus delivery.Fabrics can represent a viable solution to tackle these issues.They are specifically thought âto be wornâ, and could be the key ingredient to develop wearable haptic interfaces conceived for a more natural HRI.In this paper, the author will review some examples of fabric-based WHS that can be applied to different body locations, and elicit different haptic perceptions for different application fields.Perspective and future developments of this approach will be discussed
Development of a Tactile Thimble for Augmented and Virtual Reality Applications
The technologies that have gained a renewed interest during the recent years are Virtual Reality (VR) and Augmented Reality (AR), as they become more accessible and affordable for mass-production. The input device which allows us to interact with the virtual environment is a very crucial aspect. One of the main barriers to immerse ourselves in virtual reality is the lack of realistic feedback. The user has to almost rely entirely on visual feedback without any haptic feedback, and this increases the user's workload and decreases the performance.
In this thesis, a functional demonstrator of a tactile feedback device which conveys compelling interactions with not just VR, but also AR is presented. The device is designed such that there is realistic feedback for virtual touches and least obstruction during contact of a real object in AR applications. New design principle of introducing small actuators allows the device to be compact and increases its portability.
In contrast to actuators that are placed on the finger pad in most of the available input devices for VR, a tactile device with two actuators that are arranged laterally on the finger, so that the underside of the fingertip is free is proposed. The output from these actuators generate a tactile stimulus by stimulating a sense of touch, which helps the user to manipulate virtual objects. The actuators are designed to independently generate vibrations and this coupled tactile feedback enhances the stimulation resulting in a wide variety of stimulation patterns for the sense of touch. Preliminary experimental evaluation for design and location of actuators has been carried out to measure the vibration intensity. In addition, user experiments for design evaluation of the two actuators based on different vibration patterns have also been conducted
Perceiving Mass in Mixed Reality through Pseudo-Haptic Rendering of Newton's Third Law
In mixed reality, real objects can be used to interact with virtual objects.
However, unlike in the real world, real objects do not encounter any opposite
reaction force when pushing against virtual objects. The lack of reaction force
during manipulation prevents users from perceiving the mass of virtual objects.
Although this could be addressed by equipping real objects with force-feedback
devices, such a solution remains complex and impractical.In this work, we
present a technique to produce an illusion of mass without any active
force-feedback mechanism. This is achieved by simulating the effects of this
reaction force in a purely visual way. A first study demonstrates that our
technique indeed allows users to differentiate light virtual objects from heavy
virtual objects. In addition, it shows that the illusion is immediately
effective, with no prior training. In a second study, we measure the lowest
mass difference (JND) that can be perceived with this technique. The
effectiveness and ease of implementation of our solution provides an
opportunity to enhance mixed reality interaction at no additional cost
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