scholarly journals Haptic Breast Palpation Using Five-Fingers Haptic Interface HIRO-II

2006 ◽  
Vol 4 (1) ◽  
pp. 4-10 ◽  
Author(s):  
M.Osama Alhalabi ◽  
Vytautas Daniulatis ◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri
Keyword(s):  
Haptic Interface ◽  
Breast Palpation

scholarly journals Multi-Fingered Haptic Interface Robot and its Application Systems

2008 ◽  
Vol 144 ◽  
pp. 1-8 ◽  
Author(s):  
Haruhiko Kawasaki
Keyword(s):  
System Architecture ◽  
Physical Simulation ◽  
Medical Training ◽  
Design Method ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Research Issues ◽  
Interface Control ◽  
Application Systems ◽  
Breast Palpation

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered haptic interface robot named HIRO II, which consists of a hand with 15 dof and an arm with 6 dof. The following research issues are presented: the design method of mechanism, an interface control that takes the redundancy of the mechanism into consideration, physical simulation including frictional force and moment, a haptic rendering with a deformable object, the system architecture and two application systems--a future science encyclopedia and a VR breast palpation system.

Softness Sensation by a Side-Faced-Type Multifingered Haptic Interface

2014 ◽  
Vol 134 (10) ◽  
pp. 913-920 ◽  
Author(s):  
Takahiro Endo ◽  
Yuta Kazama ◽  
Haruhisa Kawasaki
Keyword(s):  
Haptic Interface
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