Grasp Identification and Multi-Finger Haptic Feedback for Virtual Assembly

2004 ◽  
Author(s):  
Zhenhua Zhu ◽  
Shuming Gao ◽  
Huagen Wan ◽  
Yang Luo ◽  
Wenzhen Yang
Keyword(s):  
Collision Detection ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Virtual Assembly ◽  
Feedback System ◽  
Virtual Hand ◽  
Mechanical Component ◽  
Immersion Experience ◽  
Novel Approach ◽  
Sense Of Touch

The sense of touch is an important way for humans to feel the world. It is very important to provide realistic haptic feedback in virtual assembly applications as to enhancing immersion experience and improving efficiency. This paper presents a novel approach for grasp identification and multi-finger haptic feedback for virtual assembly. Firstly, the Voxmap-PointShell (VPS) algorithm is adapted and utilized to detect collisions between a dexterous virtual hand and a mechanical component or between two mechanical components, and collision detection results are used to guide the motion of a virtual hand. Then collision forces at collision points are calculated (using Hooke Law), classified and converted. Finally, forces received at fingertips of a virtual hand are used to identify whether or not a virtual hand can grasp a mechanical component, and are mapped to exert forces at user’s fingertips with a CyberGrasp force feedback system. Our approach has been incorporated and verified in a CAVE virtual environment.

scholarly journals Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

2016 ◽  
Vol 16 (3) ◽  
Author(s):  
Jean-Claude Leon ◽  
Thomas Dupeux ◽  
Jean-Rémy Chardonnet ◽  
Jérôme Perret
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Feedback System ◽  
Validation Process ◽  
End Effector ◽  
New Device ◽  
Virtual Hand ◽  
Wide Range ◽  
Hand Exoskeleton ◽  
Technical Solutions

The simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force feedback on the fingers can be provided by a hand exoskeleton, but such a device is very complex, invasive, and costly. In this paper, we present a new device, called HaptiHand, which provides position and force input as well as haptic output for four fingers in a noninvasive way, and is mounted on a standard force-feedback arm. The device incorporates four independent modules, one for each finger, inside an ergonomic shape, allowing the user to generate a wide range of virtual hand configurations to grasp naturally an object. It is also possible to reconfigure the virtual finger positions when holding an object. The paper explains how the device is used to control a virtual hand in order to perform dexterous grasping operations. The structure of the HaptiHand is described through the major technical solutions required and tests of key functions serve as validation process for some key requirements. Also, an effective grasping task illustrates some capabilities of the HaptiHand.

Development of an Electro-Rheological Fluidic Actuator and Haptic Systems for Vehicular Instrument Control

2003 ◽  
Author(s):  
Avi Fisch ◽  
Jason Nikitczuk ◽  
Brian Weinberg ◽  
Juan Melli-Huber ◽  
Constantinos Mavroidis ◽  
...  
Keyword(s):  
Feedback Control ◽  
Visual Attention ◽  
Electric Field ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Haptic Devices ◽  
Experimental Systems ◽  
Instrument Control ◽  
Control Devices ◽  
Sense Of Touch

Force-feedback methanisms have been designed to simplify and enahance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. Haptic system, or systems that interact with the operator’s sense of touch, can be used to consolidate various controls into fever, haptic feedback control devices, so that information can be transmitted to the operator and the operator can change control settings without requiring the driver’s visual attention. In this paper an Electro-Rheological Fluid (ERF) based actuator and mechanisms are presented that provide haptic feedback. ERSs are fluids that change their viscosity in response to an electric field. Using the electrically controlled rheological properties of ERFs, haptic devices have been developed that can resist human operator forces in a controlled and tunable fashion. The design of an ERF-based actuator and its application to a haptic knob and haptic joystick is presented. The analytical model is given, analyses are performed, and experimental systems and data are presented for the actuator. Conceptual methods for the application to the haptic devices are presented.

scholarly journals A Hybrid Method for Haptic Feedback to Support Manual Virtual Product Assembly

2011 ◽  
Author(s):  
Daniela Faas
Keyword(s):  
Collision Detection ◽  
Simulation Training ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Boundary Representation ◽  
Virtual Training ◽  
Assembly Simulation ◽  
Assembly Operations ◽  
Product Assembly ◽  
Virtual Product

Experience with current Virtual Reality (VR) systems that simulate low clearance assembly operations with haptic feedback indicate that such systems are highly desirable tools in the evaluation of preliminary designs, as well as virtual training and maintenance processes. The purpose of this research is to develop methods to support manual low clearance assembly using haptic (force) feedback in a virtual environment. The results of this research will be used in an engineering framework for assembly simulation, training, and maintenance. The proposed method combines voxel-based collision detection and boundary representation to support both force feedback and constraint recognition. The key to this approach is developing the data structure and logic needed to seamlessly move between the two representations while supporting smooth haptic feedback. Collision forces and constraint-guided forces are blended to provide support for low clearance haptic assembly. This paper describes the development of the method.

scholarly journals An Add-On Device to Perform Dexterous Grasping Tasks With a Haptic Feedback System

2015 ◽  
Author(s):  
Jean-Claude Leon ◽  
Thomas Dupeux ◽  
Jean-Rémy Chardonnet ◽  
Jérôme Perret
Keyword(s):  
Real Time ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Feedback System ◽  
Short Description ◽  
Finger Movements ◽  
Natural Manner ◽  
New Device ◽  
Non Invasive ◽  
Virtual Hand

Achieving grasping tasks in real time with haptic feedback may require the control of a large number of degrees of freedom (DOFs) to model hand and finger movements. This is mandatory to grasp objects with dexterity. Here, a new device called HaptiHand is proposed that can be added to a haptic feedback arm and provide the user with enough DOFs so that he/she can intuitively and dexterously grasp an object, modify the virtual hand configuration and number of fingers with respect to the object while manipulating the object. Furthermore, this device is non-invasive and enables the user to apply forces on the fingers of the virtual hand. The HaptiHand lies inside the user’s hand so that the user can apply and release pressure on it in a natural manner that is transferred to the virtual hand using metaphors. The focus is placed on the description of the technology and structure of the HaptiHand to justify the choices and explain the behavior of the HaptiHand during object grasping and releasing tasks. This is combined with a short description of the models used.

scholarly journals Two-Fingered Haptic Device for Robot Hand Teleoperation

2011 ◽  
Vol 2011 ◽  
pp. 1-8 ◽  
Author(s):  
Futoshi Kobayashi ◽  
George Ikai ◽  
Wataru Fukui ◽  
Fumio Kojima
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Reaction Force ◽  
Feedback System ◽  
Middle Finger ◽  
Distal Segment ◽  
Haptic Device ◽  
Robot Hand

A haptic feedback system is required to assist telerehabilitation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to the distal segment of the operator's thumb, middle finger, and basipodite of the middle finger when the robot hand grasps an object. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.

Interactive force-sensing feedback system for remote robotic laparoscopic surgery

2011 ◽  
Vol 34 (4) ◽  
pp. 376-387
Author(s):  
Ian Mack ◽  
Stuart Ferguson ◽  
Karen Rafferty ◽  
Stephen Potts ◽  
Alistair Dick
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Computer Network ◽  
Feedback System ◽  
Industrial Robots ◽  
Surgical Instruments ◽  
Feedback Channel ◽  
Surgical Robots ◽  
Quantum Tunnelling ◽  
Remote Patient

This paper presents the details of a combined hardware/software system, which has been developed to provide haptic feedback for teleoperated laparoscopic surgical robots. Surgical instruments incorporating quantum tunnelling composite (QTC) force measuring sensors have been developed and mounted on a pair of Mitsubishi PA-10 industrial robots. Feedback forces are rendered on pseudo-surgical instruments based on a pair of PHANTOM Omni devices, which are also used to remotely manipulate the robotic arms. Measurements of the behaviour of the QTC sensors during a simulated teleoperated procedure are given. In addition, a method is proposed that can compensate for their non-linear characteristics in order to provide a ‘realistic feel’ to the surgeon through the haptic feedback channel. The paper concludes by explaining how the force feedback channel is combined with a visual feedback channel to enable a surgeon to perform a two-handed surgical procedure better on a remote patient by more accurately controlling a pair of robot arms via a computer network.

scholarly journals Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3673
Author(s):  
Stefan Grushko ◽  
Aleš Vysocký ◽  
Petr Oščádal ◽  
Michal Vocetka ◽  
Petr Novák ◽  
...  
Keyword(s):  
User Study ◽  
Haptic Feedback ◽  
Fundamental Aspect ◽  
Task Completion ◽  
Good Efficiency ◽  
Notification System ◽  
Movement Data ◽  
Novel Approach ◽  
Machine Interface ◽  
High Degree

In a collaborative scenario, the communication between humans and robots is a fundamental aspect to achieve good efficiency and ergonomics in the task execution. A lot of research has been made related to enabling a robot system to understand and predict human behaviour, allowing the robot to adapt its motion to avoid collisions with human workers. Assuming the production task has a high degree of variability, the robot’s movements can be difficult to predict, leading to a feeling of anxiety in the worker when the robot changes its trajectory and approaches since the worker has no information about the planned movement of the robot. Additionally, without information about the robot’s movement, the human worker cannot effectively plan own activity without forcing the robot to constantly replan its movement. We propose a novel approach to communicating the robot’s intentions to a human worker. The improvement to the collaboration is presented by introducing haptic feedback devices, whose task is to notify the human worker about the currently planned robot’s trajectory and changes in its status. In order to verify the effectiveness of the developed human-machine interface in the conditions of a shared collaborative workspace, a user study was designed and conducted among 16 participants, whose objective was to accurately recognise the goal position of the robot during its movement. Data collected during the experiment included both objective and subjective parameters. Statistically significant results of the experiment indicated that all the participants could improve their task completion time by over 45% and generally were more subjectively satisfied when completing the task with equipped haptic feedback devices. The results also suggest the usefulness of the developed notification system since it improved users’ awareness about the motion plan of the robot.

scholarly journals A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 640
Author(s):  
Linshuai Zhang ◽  
Shuoxin Gu ◽  
Shuxiang Guo ◽  
Takashi Tamiya
Keyword(s):  
Collision Detection ◽  
Endovascular Procedures ◽  
Force Feedback ◽  
Force Measurement ◽  
Occupational Hazards ◽  
Robot Assisted ◽  
X Ray ◽  
Surgical Safety ◽  
Surgical Tool ◽  
Haptic Cues

A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.

scholarly journals Development and Testing of a Methodology for the Assessment of Acceptability of LKA Systems

Machines ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 47 ◽  
Author(s):  
Luca Salvati ◽  
Matteo d’Amore ◽  
Anita Fiorentino ◽  
Arcangelo Pellegrino ◽  
Pasquale Sena ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Operating Conditions ◽  
Experimental Methodology ◽  
Driving Safety ◽  
Steering Wheel ◽  
Human In The Loop ◽  
Automation Systems ◽  
Driving Stability ◽  
Lane Keeping

In recent years, driving simulators have been widely used by automotive manufacturers and researchers in human-in-the-loop experiments, because they can reduce time and prototyping costs, and provide unlimited parametrization, more safety, and higher repeatability. Simulators play an important role in studies about driver behavior in operating conditions or with unstable vehicles. The aim of the research is to study the effects that the force feedback (f.f.b.), provided to steering wheel by a lane-keeping-assist (LKA) system, has on a driver’s response in simulators. The steering’s force feedback system is tested by reproducing the conditions of criticality of the LKA system in order to minimize the distance required to recover the driving stability as a function of set f.f.b. intensity and speed. The results, obtained in three specific criticality conditions, show that the behaviour of the LKA system, reproduced in the simulator, is not immediately understood by the driver and, sometimes, it is in opposition with the interventions performed by the driver to ensure driving safety. The results also compare the performance of the subjects, either overall and classified into subgroups, with reference to the perception of the LKA system, evaluated by means of a questionnaire. The proposed experimental methodology is to be regarded as a contribution for the integration of acceptance tests in the evaluation of automation systems.

Sign in / Sign up

Export Citation Format

Share Document