AVR Training System with Haptic Force Feedback for the Robotic Endovascular Surge

2018 ◽  
Author(s):  
Yu Song ◽  
Shuxiang Guo ◽  
Linshuai Zhang
Keyword(s):  
Force Feedback ◽  
Training System

scholarly journals The Application of an Impedance-Passivity Controller in Haptic Stability Analysis

2021 ◽  
Vol 11 (4) ◽  
pp. 1618
Author(s):  
Ping-Nan Chen ◽  
Yung-Te Chen ◽  
Hsin Hsiu ◽  
Ruei-Jia Chen
Keyword(s):  
Control Systems ◽  
Force Feedback ◽  
Training System ◽  
Considerable Time ◽  
Virtual Training ◽  
Control Gain ◽  
Negative Damping ◽  
The Stability ◽  
Time Required ◽  
Stable Control

This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems, namely the considerable time required to reach stability if the equipment consumes energy slowly. The proposed IPC can be used to achieve stability through model parameter selection and to obtain control gain. In particular, haptic performance can be improved for extreme cases of high stiffness and negative damping. Furthermore, a virtual training system for one-degree-of-freedom sticking was developed to validate the experimental platform of our IPC. To ensure consistency in the experiment, we designed a specialized mechanical robot to replace human operation. Finally, compared with basic passivity control systems, our IPC could achieve stable control rapidly.

Framework for Network Based Manufacturing Training Through Telehaptics

Materials ◽  
2003 ◽  
Author(s):  
Dhananjay Joshi ◽  
T. Kesavadas
Keyword(s):  
Force Feedback ◽  
Training System ◽  
Shared Environment ◽  
The Internet ◽  
Haptic Information ◽  
Skill Sets ◽  
Ip Network ◽  
Haptic Communication ◽  
Simulation Systems ◽  
Haptic Sensation

Use of force feedback, or haptics, has increased the realism of virtual reality simulation systems over the last few years. In this research we propose a framework for the communication of haptic sensation in a shared environment over the Internet for developing novel manufacturing training system. This framework allows re-experiencing the sensation at geographically remote location by transmitting the haptic information over a TCP/IP network. We call this Tele-haptics. Using Tele-haptics, we propose a system where we can capture skill sets commonly associated with complex tasks such a die and tool polishing and communicate this to trainee over the internet. The trainee, using a Phantom Haptic system, can experience the process of polishing based on the master’s input. The framework for haptic communication is experimentally evaluated. The results of the experimental evaluation suggest that it is possible to transmit and recreate haptic features such as geometry and force characteristics.

Research of Intelligent Multi-Role Collaborative Virtual Surgery Simulation Training System Based on TCP / IP

2011 ◽  
Vol 403-408 ◽  
pp. 2281-2284
Author(s):  
Yan Fei Liu ◽  
Xiao Yu Jiang ◽  
Feng Ting Shen
Keyword(s):  
Simulation Training ◽  
Force Feedback ◽  
Training System ◽  
Virtual Simulation ◽  
Visual Simulation ◽  
Virtual Surgery ◽  
Surgery Simulation ◽  
Simulation Technology ◽  
Surgery Training ◽  
Simulation Surgery

The paper researchs on the TCP/IP based Multi-Role virtual surgery simulation training system, which is an intelligent surgery simulation training platform .It make a comprehensive application of visual simulation technology, force feedback technology and Human-Computer interaction technology. Visual simulation technology includes virtual reality, artificial intelligence and dynamic modeling. The use of the TCP/IP interfaces expands the number of user and realizes Multi-Roles collaborative in the same virtual simulation surgery training.

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