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During the teleoperated robot assisted catheter interventional neurosurgery, to improve the transparency between the patient side (slave side) and the remote control side (mast side) have been obtained plenty of attention. In this research we hypothesized that the slave catheter interventional robot fully complied with the dynamics command which comes from the master site. This paper is concerned...
Time series scientific simulation on supercomputers generates huge amounts of data at each time step. In the big data era, these data become impossible to be stored anymore, so simultaneous analysis of these data is strongly demanded. In order to realize such an on-the-fly intuitive analysis of simulation, this paper showcases a multimodal visualization and steering system with visual and haptic interfaces...
In this paper, a novel miniature multi-mode haptic pen is developed to interact with image on mobile terminal. The haptic pen can provide two types of vibrotactile feedback by linear resonant actuator (LRAs) and piezo-ceramic actuator. It can provide passive force feedback by a miniature magnetorheological (MR) fluids damper which is designed independently. In order to obtain the features of an image,...
This paper describes a combined tactile sensor and haptic interface that can change its stiffness using magnetorheological fluids (MR fluid). The tactile sensor consists of 6 distributed capacitive sensors that can sense the location and the amount of applied force. Above the sensors is a chamber filled with MR fluid. By changing the magnetic field, the hardness of the MR fluid, and thereby of the...
This paper presents a new miniature haptic button based on MR fluids which conveys realistic and exiting haptic button profiles in small handheld devices. A novel mechanism is presented to maximize the resistive force and create various kinesthetic sensations even in the small size. After construction of a prototype, the performance of the proposed haptic button was measured by varying input voltages...
In open abdominal surgical procedures, many surgical instruments, e.g., knives, cutting shears and clamps, are generally used. Therefore, a haptic interface should display reaction force of a soft biological tissue through such a surgical instrument. Simplest solution for this difficulty is that an actual instrument is mechanically mounted on the traditional haptic interface driven by servomotors...
The present study investigated the use of visual trajectory and haptic force information in learning concepts involving force. Specifically, learning modules for instructing buoyant forces were developed for use with a computer monitor and a force feedback device. Students from an elementary school at the fourth and sixth grades were recruited to participate in the study. The students were separated...
This work first provides an overview of haptic gloves found in the literature, with a focus on their applications and their requirements. This information is then used to justify the use of Magnetorheological Fluid (MRF), a smart fluid which reversibly changes viscosity proportionally to an applied magnetic field, to effect the force feedback in a haptic glove. This is followed by the development...
We challenge ourselves to allow a user to feel how to stir a pool of 3D fluid in a virtual environment. Fluids are objects where the shape can not be defined using conventional polygons, and the graphical rendering and haptic rendering are purely based on mathematical calculation from the Navier-Stokes equation. Through a haptic probe the user is able to introduce perturbations in a pool of simulated...
Stiffness information is one of the important factors to naturally and intuitively interact with electronic devices and displays. For small-sized electronics, such as hand-held devices, the size of haptic modules is a key limiting factor, and it must be minimized. This paper proposes a concept of miniature and tunable stiffness display an aim to design a miniature device conveying stiffness information...
In this study, we propose a leg-robot with a compact MR fluid clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements,...
Many kinds of actuator-based (active type) haptic devices have developed and utilized as rehabilitation robots. These systems have great advantages for rehabilitative activities, for example assistive forces and so on. However, from the view point of safety, we have a room to consider utilizing brake-based (passive type) haptic devices as rehabilitation-tools. The effects and roles of active / passive...
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