Haptic interface control-design issues and experiments with a planar device

Describes the haptic rendering of a virtual environment by drawing upon concepts developed in the area of teleoperation. A four-channel teleoperation architecture is shown to be an effective means of coordinating the control of a 3-DOF haptic interface with the simulation of a virtual dynamic environmen

Haptic Interaction within a Planar Environment

A haptic simulation environment to simulate planar threedegree -of-freedom motion has been developed by the authors. The system consists of a novel parallel manipulandum and associated control, collision detection and dynamic simulation software running on a QNX PC. This paper describes haptic interfacecontrol and outlines the control systems that have been designed for the haptic rendering of virtual environments. Virtual environment design and implementation are also discussed. Using the haptic simulation environment that has been developed, a four-channel teleoperationarchitecture is shown to beane#ective means to display a variety of simulated environments and is compared with apopular impedance-based approach

A User Interface for Robot-Assisted Diagnostic Ultrasound

A robot-assisted system for medical diagnostic ultrasound has been developed by the authors. This paper presents key features of the user interface used in this system. While the ultrasound transducer is positioned by a robot, the operator, the robot controller, and an ultrasound image processor have shared control over its motion. Ultrasound image features that can be selected by the operator are recognized and tracked by a variety of techniques. Based on feature tracking, ultrasound image servoing in three axes has been incorporated in the interface and can be enabled to automatically compensate, through robot motions, unwanted motions in the plane of the ultrasound beam. The stability and accuracy of the system is illustrated through a 3D reconstruction of an ultrasound phantom