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Given the wide skill gap prevalent in the developing nations today, providing vocational education to the unskilled promises to improve the quality of life of people. Vocational skills are practical competencies and the necessary underpinning knowledge that helps a person acquire gainful employment in the labor market. This paper focuses on a surface mount hand soldering technique which is a vocational...
This paper investigates the use of a variable haptic feedback for training a disturbance rejection task. The haptic feedback was designed as a Force-Stiffness feedback. Throughout the training, Force and Stiffness feedback are decreased to progressively give more control authority to the human operator. The training method was tested in a human-in-the-loop experiment. In the experiment, participants...
Transparency and stability issues have been a major concern for haptic tele-operation. Researchers in this area have already shown that a minimum refresh rate of 1 kHz is required to achieve smoothness for human perception in force-feedback experiments. This rate requires the highest priority for real-time applications to achieve transparent haptic tele-presence. As a result, this rate leads to a...
Task outcome feedback is often used to sustain human work motivation and ensure overall productivity. Feedback can also be useful for reducing learning periods for new tasks. Two types of feedback, including knowledge of results (KR) and knowledge of performance (KP), are commonly delivered as part of motor training by using various sensory modalities (e.g., visual, auditory or kinesthetic). Unfortunately,...
In this paper, we develop haptic based force reflecting interaction interface for bilateral telemanipulation of miniature aerial vehicle. The human-master interface combines shared control term with the reflected force fields mapped by using artificial force field and virtual impedance force field. The shared control for the human-master comprises velocity signals of the with the scaled position of...
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
In this paper, we propose a force feedback scheme for Delta device to improve precision and stability in master-slave teleoperation. A simple and exact dynamical equation is created with principle of virtual work, which is easy to calculate in real-time. After analysing three items deep in dynamical equation, a reasonable strategy is designed to identify the mass of Delta mechanism. The identified...
Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
Haptic skills are essential for effective Cardiopulmonary Resuscitation (CPR). Existing CPR training simulators provide unrealistic chest conditions. It is assumed that the CPR performance on a real human chest is the same even when the trainees have learnt on unrealistic dummy chests. To test this assumption we have developed an immersive Virtual Reality based CPR simulator in which force feedback...
In this paper we propose a new protocol based on Virtual Reality and a low-cost haptic device for evaluating motion performance during perturbed 3D reaching tasks. The protocol presented herein was designed to assess how different force amplitudes and different reaching directions influence motor performance of healthy subjects. We developed a novel gaming scenario using Unity 3D and the Novint Falcon,...
A passive haptic interface that is inherently safe and stable and can present variable virtual asperity was developed. This interface delivers passive resistance force by switching on and off the damping brake of a DC motor without being driven. We conducted identification experiments for six levels of asperity stimuli to investigate human perceptual properties against passive asperity. Variable asperity...
This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
Medical training systems often require the use of haptic interaction with deformable models and high visual fidelity. It is necessary to get a compromise between the geometric model and the deformation model in order to achieve the required frame rate for haptic interaction of 1000Hz. Frequently low level geometric models are used to describe the geometry of the object. This produces large data structures...
This paper considers tele-rehabilitation system by using the electrical stimulation based on the bilateral teleoperation for a human lower limb. The tele-rehabilitation means that a physical therapist rehabilitates a patient who is away from the physical therapist. When the therapist cannot check the condition of the patient directly, the haptic interface is used to feel the condition by the haptic...
The remote examination is becoming more and more important as the population is aging and experts lack as ever before. We propose a novel system which is suitable for remote examination and in particular for remote auscultation. The system is located at two sites, at the patient site a robot holds a stethoscope which is placed on the patient while an RGB-D sensor streams a video of the scene. At the...
Robotic-assisted surgery requires an intuitive and effective human-machine interface. Providing haptic feedback for pinching and dissecting motions of bipolar forceps, a tool commonly used in neurosurgery, could potentially improve the surgeon's experience. Current haptic hand controllers have limited actuation and feedback capability, requiring surgeons to hold the handle differently compared to...
This paper demonstrates the use of mechanotactile feedback to provide humans with virtual proprioception of their prosthetic devices. Traditional prostheses provide little or no sensory feedback, requiring the user to visually inspect many tasks performed with device. Virtual proprioception can allow humans to incorporate the kinematic and kinetic states of an external device into their body image,...
In this paper, a bilateral aerial teleoperation system based on force feedback is proposed for monitoring and detecting the forest fires. First of all, an aerial teleoperation system is proposed to enforce the velocity synchronization of the master and the slave. Velocity synchronization is required to achieve motion tracking of the master and slave vehicles. A force reflection is provided to the...
A virtual reality program has been developed to assess the strength and flexibility of a computer based model of a term fetus or newborn baby's neck. The software has a haptic/force feedback user interface which allows clinical experts to adjust the mechanical properties, including range of motion and mechanical stiffness of a newborn neck model, at runtime. The developed software was assessed by...
Enhancing touch screen interfaces through non-visual cues has been shown to improve performance. In this paper we report on a novel system that explores the usage of a forcesensitive motion-platform enhanced tablet interface to improve multi-modal interaction based on visuo-haptic instead of tactile feedback. Extending mobile touch screen with force-sensitive haptic feedback has potential to enhance...
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