1st International AsiaHaptics conference

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Ando, Hideyuki; Kyung, Ki-Uk

2015-01-01

This book is aimed not only at haptics and human interface researchers, but also at developers and designers from manufacturing corporations and the entertainment industry who are working to change our lives. This publication comprises the proceedings of the first International AsiaHaptics conference, held in Tsukuba, Japan, in 2014. The book describes the state of the art of the diverse haptics- (touch-) related research, including scientific research into haptics perception and illusion, development of haptics devices, and applications for a wide variety of fields such as education, medicine, telecommunication, navigation, and entertainment.

Perceiving haptic feedback in virtual reality simulators.

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Våpenstad, Cecilie; Hofstad, Erlend Fagertun; Langø, Thomas; Mårvik, Ronald; Chmarra, Magdalena Karolina

2013-07-01

To improve patient safety, training of psychomotor laparoscopic skills is often done on virtual reality (VR) simulators outside the operating room. Haptic sensations have been found to influence psychomotor performance in laparoscopy. The emulation of haptic feedback is thus an important aspect of VR simulation. Some VR simulators try to simulate these sensations with handles equipped with haptic feedback. We conducted a survey on how laparoscopic surgeons perceive handles with and without haptic feedback. Surgeons with different levels of experience in laparoscopy were asked to test two handles: Xitact IHP with haptic feedback and Xitact ITP without haptic feedback (Mentice AB, Gothenburg, Sweden), connected to the LapSim (Surgical Science AB, Sweden) VR simulator. They performed two tasks on the simulator before answering 12 questions regarding the two handles. The surgeons were not informed about the differences in the handles. A total of 85 % of the 20 surgeons who participated in the survey claimed that it is important that handles with haptic feedback feel realistic. Ninety percent of the surgeons preferred the handles without haptic feedback. The friction in the handles with haptic feedback was perceived to be as in reality (5 %) or too high (95 %). Regarding the handles without haptic feedback, the friction was perceived as in reality (45 %), too low (50 %), or too high (5 %). A total of 85 % of the surgeons thought that the handle with haptic feedback attempts to simulate the resistance offered by tissue to deformation. Ten percent thought that the handle succeeds in doing so. The surveyed surgeons believe that haptic feedback is an important feature on VR simulators; however, they preferred the handles without haptic feedback because they perceived the handles with haptic feedback to add additional friction, making them unrealistic and not mechanically transparent.

The role of haptic versus visual volume cues in the size-weight illusion.

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Ellis, R R; Lederman, S J

1993-03-01

Three experiments establish the size-weight illusion as a primarily haptic phenomenon, despite its having been more traditionally considered an example of vision influencing haptic processing. Experiment 1 documents, across a broad range of stimulus weights and volumes, the existence of a purely haptic size-weight illusion, equal in strength to the traditional illusion. Experiment 2 demonstrates that haptic volume cues are both sufficient and necessary for a full-strength illusion. In contrast, visual volume cues are merely sufficient, and produce a relatively weaker effect. Experiment 3 establishes that congenitally blind subjects experience an effect as powerful as that of blindfolded sighted observers, thus demonstrating that visual imagery is also unnecessary for a robust size-weight illusion. The results are discussed in terms of their implications for both sensory and cognitive theories of the size-weight illusion. Applications of this work to a human factors design and to sensor-based systems for robotic manipulation are also briefly considered.

Visual and Haptic Mental Rotation

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Satoshi Shioiri

2011-10-01

Full Text Available It is well known that visual information can be retained in several types of memory systems. Haptic information can also be retained in a memory because we can repeat a hand movement. There may be a common memory system for vision and action. On the one hand, it may be convenient to have a common system for acting with visual information. On the other hand, different modalities may have their own memory and use retained information without transforming specific to the modality. We compared memory properties of visual and haptic information. There is a phenomenon known as mental rotation, which is possibly unique to visual representation. The mental rotation is a phenomenon where reaction time increases with the angle of visual target (eg,, a letter to identify. The phenomenon is explained by the difference in time to rotate the representation of the target in the visual sytem. In this study, we compared the effect of stimulus angle on visual and haptic shape identification (two-line shapes were used. We found that a typical effect of mental rotation for the visual stimulus. However, no such effect was found for the haptic stimulus. This difference cannot be explained by the modality differences in response because similar difference was found even when haptical response was used for visual representation and visual response was used for haptic representation. These results indicate that there are independent systems for visual and haptic representations.

Haptic feedback improves surgeons' user experience and fracture reduction in facial trauma simulation.

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Girod, Sabine; Schvartzman, Sara C; Gaudilliere, Dyani; Salisbury, Kenneth; Silva, Rebeka

2016-01-01

Computer-assisted surgical (CAS) planning tools are available for craniofacial surgery, but are usually based on computer-aided design (CAD) tools that lack the ability to detect the collision of virtual objects (i.e., fractured bone segments). We developed a CAS system featuring a sense of touch (haptic) that enables surgeons to physically interact with individual, patient-specific anatomy and immerse in a three-dimensional virtual environment. In this study, we evaluated initial user experience with our novel system compared to an existing CAD system. Ten surgery resident trainees received a brief verbal introduction to both the haptic and CAD systems. Users simulated mandibular fracture reduction in three clinical cases within a 15 min time limit for each system and completed a questionnaire to assess their subjective experience. We compared standard landmarks and linear and angular measurements between the simulated results and the actual surgical outcome and found that haptic simulation results were not significantly different from actual postoperative outcomes. In contrast, CAD results significantly differed from both the haptic simulation and actual postoperative results. In addition to enabling a more accurate fracture repair, the haptic system provided a better user experience than the CAD system in terms of intuitiveness and self-reported quality of repair.

Structural impact detection with vibro-haptic interfaces

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Jung, Hwee-Kwon; Park, Gyuhae; Todd, Michael D.

2016-07-01

This paper presents a new sensing paradigm for structural impact detection using vibro-haptic interfaces. The goal of this study is to allow humans to ‘feel’ structural responses (impact, shape changes, and damage) and eventually determine health conditions of a structure. The target applications for this study are aerospace structures, in particular, airplane wings. Both hardware and software components are developed to realize the vibro-haptic-based impact detection system. First, L-shape piezoelectric sensor arrays are deployed to measure the acoustic emission data generated by impacts on a wing. Unique haptic signals are then generated by processing the measured acoustic emission data. These haptic signals are wirelessly transmitted to human arms, and with vibro-haptic interface, human pilots could identify impact location, intensity and possibility of subsequent damage initiation. With the haptic interface, the experimental results demonstrate that human could correctly identify such events, while reducing false indications on structural conditions by capitalizing on human’s classification capability. Several important aspects of this study, including development of haptic interfaces, design of optimal human training strategies, and extension of the haptic capability into structural impact detection are summarized in this paper.

The Haptic Bracelets: Learning Multi-Limb Rhythm Skills from Haptic Stimuli While Reading

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Bouwer, A.; Holland, S.; Dalgleish, M.; Holland, S.; Wilkie, K.; Mulholland, P.; Seago, A.

2013-01-01

The Haptic Bracelets are a system designed to help people learn multi-limbed rhythms (which involve multiple simultaneous rhythmic patterns) while they carry out other tasks. The Haptic Bracelets consist of vibrotactiles attached to each wrist and ankle, together with a computer system to control

KinoHaptics: An Automated, Wearable, Haptic Assisted, Physio-therapeutic System for Post-surgery Rehabilitation and Self-care.

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Rajanna, Vijay; Vo, Patrick; Barth, Jerry; Mjelde, Matthew; Grey, Trevor; Oduola, Cassandra; Hammond, Tracy

2016-03-01

A carefully planned, structured, and supervised physiotherapy program, following a surgery, is crucial for the successful diagnosis of physical injuries. Nearly 50 % of the surgeries fail due to unsupervised, and erroneous physiotherapy. The demand for a physiotherapist for an extended period is expensive to afford, and sometimes inaccessible. Researchers have tried to leverage the advancements in wearable sensors and motion tracking by building affordable, automated, physio-therapeutic systems that direct a physiotherapy session by providing audio-visual feedback on patient's performance. There are many aspects of automated physiotherapy program which are yet to be addressed by the existing systems: a wide classification of patients' physiological conditions to be diagnosed, multiple demographics of the patients (blind, deaf, etc.), and the need to pursue patients to adopt the system for an extended period for self-care. In our research, we have tried to address these aspects by building a health behavior change support system called KinoHaptics, for post-surgery rehabilitation. KinoHaptics is an automated, wearable, haptic assisted, physio-therapeutic system that can be used by a wide variety of demographics and for various physiological conditions of the patients. The system provides rich and accurate vibro-haptic feedback that can be felt by the user, irrespective of the physiological limitations. KinoHaptics is built to ensure that no injuries are induced during the rehabilitation period. The persuasive nature of the system allows for personal goal-setting, progress tracking, and most importantly life-style compatibility. The system was evaluated under laboratory conditions, involving 14 users. Results show that KinoHaptics is highly convenient to use, and the vibro-haptic feedback is intuitive, accurate, and has shown to prevent accidental injuries. Also, results show that KinoHaptics is persuasive in nature as it supports behavior change and habit building

Visual-Haptic Integration: Cue Weights are Varied Appropriately, to Account for Changes in Haptic Reliability Introduced by Using a Tool

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Chie Takahashi

2011-10-01

Full Text Available Tools such as pliers systematically change the relationship between an object's size and the hand opening required to grasp it. Previous work suggests the brain takes this into account, integrating visual and haptic size information that refers to the same object, independent of the similarity of the ‘raw’ visual and haptic signals (Takahashi et al., VSS 2009. Variations in tool geometry also affect the reliability (precision of haptic size estimates, however, because they alter the change in hand opening caused by a given change in object size. Here, we examine whether the brain appropriately adjusts the weights given to visual and haptic size signals when tool geometry changes. We first estimated each cue's reliability by measuring size-discrimination thresholds in vision-alone and haptics-alone conditions. We varied haptic reliability using tools with different object-size:hand-opening ratios (1:1, 0.7:1, and 1.4:1. We then measured the weights given to vision and haptics with each tool, using a cue-conflict paradigm. The weight given to haptics varied with tool type in a manner that was well predicted by the single-cue reliabilities (MLE model; Ernst and Banks, 2002. This suggests that the process of visual-haptic integration appropriately accounts for variations in haptic reliability introduced by different tool geometries.

The Hedonic Haptic Player

DEFF Research Database (Denmark)

Vallgårda, Anna; Boer, Laurens; Cahill, Ben

2017-01-01

In this design case we present the Hedonic Haptic Player—a wearable device that plays different patterns of vibrations on the body as a form of music for the skin. With this we begin to explore the enjoyability of vibrations in a wearable set-up. Instead of implementing vibrations as a haptic...... output for some form of communication we want to explore their hedonistic value. The process leading up to the Hedonic Haptic player served as a first step in getting a grasp of the design space of vibrotactile stimuli in a broader sense. This is reported as seven episodes of explorations. The Hedonic...

P1-17: Pseudo-Haptics Using Motion-in-Depth Stimulus and Second-Order Motion Stimulus

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Shuichi Sato

2012-10-01

Full Text Available Modification of motion of the computer cursor during the manipulation by the observer evokes illusory haptic sensation (Lecuyer et al., 2004 ACM SIGCHI '04 239–246. This study investigates the pseudo-haptics using motion-in-depth and second-order motion. A stereoscopic display and a PHANTOM were used in the first experiment. A subject was asked to move a visual target at a constant speed in horizontal, vertical, or front-back direction. During the manipulation, the speed was reduced to 50% for 500 msec. The haptic sensation was measured using the magnitude estimation method. The result indicates that perceived haptic sensation from motion-in-depth was about 30% of that from horizontal or vertical motion. A 2D display and the PHANTOM were used in the second experiment. The motion cue was second order—in each frame, dots in a square patch reverses in contrast (i.e., all black dots become white and all white dots become black. The patch was moved in a horizontal direction. The result indicates that perceived haptic sensation from second-order motion was about 90% of that from first-order motion.

Mobile Haptic Technology Development through Artistic Exploration

DEFF Research Database (Denmark)

Cuartielles, David; Göransson, Andreas; Olsson, Tony

2012-01-01

This paper investigates how artistic explorations can be useful for the development of mobile haptic technology. It presents an alternative framework of design for wearable haptics that contributes to the building of haptic communities outside specialized research contexts. The paper also present...

Review of Designs for Haptic Data Visualization.

Science.gov (United States)

Paneels, Sabrina; Roberts, Jonathan C

2010-01-01

There are many different uses for haptics, such as training medical practitioners, teleoperation, or navigation of virtual environments. This review focuses on haptic methods that display data. The hypothesis is that haptic devices can be used to present information, and consequently, the user gains quantitative, qualitative, or holistic knowledge about the presented data. Not only is this useful for users who are blind or partially sighted (who can feel line graphs, for instance), but also the haptic modality can be used alongside other modalities, to increase the amount of variables being presented, or to duplicate some variables to reinforce the presentation. Over the last 20 years, a significant amount of research has been done in haptic data presentation; e.g., researchers have developed force feedback line graphs, bar charts, and other forms of haptic representations. However, previous research is published in different conferences and journals, with different application emphases. This paper gathers and collates these various designs to provide a comprehensive review of designs for haptic data visualization. The designs are classified by their representation: Charts, Maps, Signs, Networks, Diagrams, Images, and Tables. This review provides a comprehensive reference for researchers and learners, and highlights areas for further research.

Bilateral intraocular lens subluxation secondary to haptic angulation.

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Moreno-Montañés, Javier; Fernández-Hortelano, Ana; Caire, Josemaría

2008-04-01

An 82-year-old man had uneventful phacoemulsification with bilateral implantation of a hydrophilic acrylic, single-piece intraocular lens (IOL) (ACR6D SE, Laboratoires Cornéal). Five years later, simultaneous and bilateral IOL subluxations occurred. In both eyes, the subluxation was situated on the side of one haptic that had moved forward (temporal area in the right eye and superior area in the left eye). In the right eye, the haptic-capsular bag was entrapped by the pupil and produced endothelial damage. A transscleral suture was placed over and under the subluxated haptic through the anterior and posterior capsules to capture the haptic. The haptic was then sutured to the sclera. No postoperative complications developed. We hypothesize that 10-degree angulated and broad haptic junctions can lead to zonular damage and IOL subluxation.

Integrating 3D seismic curvature and curvature gradient attributes for fracture characterization: Methodologies and interpretational implications

Energy Technology Data Exchange (ETDEWEB)

Gao, Dengliang

2013-03-01

In 3D seismic interpretation, curvature is a popular attribute that depicts the geometry of seismic reflectors and has been widely used to detect faults in the subsurface; however, it provides only part of the solutions to subsurface structure analysis. This study extends the curvature algorithm to a new curvature gradient algorithm, and integrates both algorithms for fracture detection using a 3D seismic test data set over Teapot Dome (Wyoming). In fractured reservoirs at Teapot Dome known to be formed by tectonic folding and faulting, curvature helps define the crestal portion of the reservoirs that is associated with strong seismic amplitude and high oil productivity. In contrast, curvature gradient helps better define the regional northwest-trending and the cross-regional northeast-trending lineaments that are associated with weak seismic amplitude and low oil productivity. In concert with previous reports from image logs, cores, and outcrops, the current study based on an integrated seismic curvature and curvature gradient analysis suggests that curvature might help define areas of enhanced potential to form tensile fractures, whereas curvature gradient might help define zones of enhanced potential to develop shear fractures. In certain fractured reservoirs such as at Teapot Dome where faulting and fault-related folding contribute dominantly to the formation and evolution of fractures, curvature and curvature gradient attributes can be potentially applied to differentiate fracture mode, to predict fracture intensity and orientation, to detect fracture volume and connectivity, and to model fracture networks.

GDP growth and the yield curvature

DEFF Research Database (Denmark)

Møller, Stig Vinther

2014-01-01

This paper examines the forecastability of GDP growth using information from the term structure of yields. In contrast to previous studies, the paper shows that the curvature of the yield curve contributes with much more forecasting power than the slope of yield curve. The yield curvature also...... predicts bond returns, implying a common element to time-variation in expected bond returns and expected GDP growth....

Faster simulated laparoscopic cholecystectomy with haptic feedback technology

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Yiasemidou M

2011-10-01

Full Text Available Marina Yiasemidou, Daniel Glassman, Peter Vasas, Sarit Badiani, Bijendra Patel Barts and the London School of Medicine and Dentistry, Department of Upper GI Surgery, Barts and The Royal London Hospital, London, UK Background: Virtual reality simulators have been gradually introduced into surgical training. One of the enhanced features of the latest virtual simulators is haptic feedback. The usefulness of haptic feedback technology has been a matter of controversy in recent years. Previous studies have assessed the importance of haptic feedback in executing parts of a procedure or basic tasks, such as tissue grasping. The aim of this study was to assess the role of haptic feedback within a structured educational environment, based on the performance of junior surgical trainees after undergoing substantial simulation training. Methods: Novices, whose performance was assessed after several repetitions of a task, were recruited for this study. The performance of senior house officers at the last stage of a validated laparoscopic cholecystectomy curriculum was assessed. Nine senior house officers completed a validated laparoscopic cholecystectomy curriculum on a haptic simulator and nine on a nonhaptic simulator. Performance in terms of mean total time, mean total number of movements, and mean total path length at the last level of the validated curriculum (full procedure of laparoscopic cholecystectomy was compared between the two groups. Results: Haptic feedback significantly reduced the time required to complete the full procedure of laparoscopic cholecystectomy (mean total time for nonhaptic machine 608.83 seconds, mean total time for haptic machine 553.27 seconds; P = 0.019 while maintaining safety standards similar to those of the nonhaptic machine (mean total number of movements: nonhaptic machine 583.74, haptic machine 603.93, P = 0.145, mean total path length: for nonhaptic machine 1207.37 cm, for haptic machine 1262.36 cm, P = 0

Developing Visual Editors for High-Resolution Haptic Patterns

DEFF Research Database (Denmark)

Cuartielles, David; Göransson, Andreas; Olsson, Tony

2012-01-01

In this article we give an overview of our iterative work in developing visual editors for creating high resolution haptic patterns to be used in wearable, haptic feedback devices. During the past four years we have found the need to address the question of how to represent, construct and edit high...... resolution haptic patterns so that they translate naturally to the user’s haptic experience. To solve this question we have developed and tested several visual editors...

Different haptic tools reduce trunk velocity in the frontal plane during walking, but haptic anchors have advantages over lightly touching a railing.

Science.gov (United States)

Hedayat, Isabel; Moraes, Renato; Lanovaz, Joel L; Oates, Alison R

2017-06-01

There are different ways to add haptic input during walking which may affect walking balance. This study compared the use of two different haptic tools (rigid railing and haptic anchors) and investigated whether any effects on walking were the result of the added sensory input and/or the posture generated when using those tools. Data from 28 young healthy adults were collected using the Mobility Lab inertial sensor system (APDM, Oregon, USA). Participants walked with and without both haptic tools and while pretending to use both haptic tools (placebo trials), with eyes opened and eyes closed. Using the tools or pretending to use both tools decreased normalized stride velocity (p  .999). These findings highlight a difference in the type of tool used to add haptic input and suggest that changes in balance control strategy resulting from using the railing are based on arm placement, where it is the posture combined with added sensory input that affects balance control strategies with the haptic anchors. These findings provide a strong framework for additional research to be conducted on the effects of haptic input on walking in populations known to have decreased walking balance.

Design of high-fidelity haptic display for one-dimensional force reflection applications

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Gillespie, Brent; Rosenberg, Louis B.

1995-12-01

This paper discusses the development of a virtual reality platform for the simulation of medical procedures which involve needle insertion into human tissue. The paper's focus is the hardware and software requirements for haptic display of a particular medical procedure known as epidural analgesia. To perform this delicate manual procedure, an anesthesiologist must carefully guide a needle through various layers of tissue using only haptic cues for guidance. As a simplifying aspect for the simulator design, all motions and forces involved in the task occur along a fixed line once insertion begins. To create a haptic representation of this procedure, we have explored both physical modeling and perceptual modeling techniques. A preliminary physical model was built based on CT-scan data of the operative site. A preliminary perceptual model was built based on current training techniques for the procedure provided by a skilled instructor. We compare and contrast these two modeling methods and discuss the implications of each. We select and defend the perceptual model as a superior approach for the epidural analgesia simulator.

Virtual Reality and Haptics for Product Assembly

Directory of Open Access Journals (Sweden)

Maria Teresa Restivo

2012-01-01

Full Text Available Haptics can significantly enhance the user's sense of immersion and interactivity. An industrial application of virtual reality and haptics for product assembly is described in this paper, which provides a new and low-cost approach for product assembly design, assembly task planning and assembly operation training. A demonstration of the system with haptics device interaction was available at the session of exp.at'11.

fMRI-Compatible Electromagnetic Haptic Interface.

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Riener, R; Villgrattner, T; Kleiser, R; Nef, T; Kollias, S

2005-01-01

A new haptic interface device is suggested, which can be used for functional magnetic resonance imaging (fMRI) studies. The basic component of this 1 DOF haptic device are two coils that produce a Lorentz force induced by the large static magnetic field of the MR scanner. A MR-compatible optical angular encoder and a optical force sensor enable the implementation of different control architectures for haptic interactions. The challenge was to provide a large torque, and not to affect image quality by the currents applied in the device. The haptic device was tested in a 3T MR scanner. With a current of up to 1A and a distance of 1m to the focal point of the MR-scanner it was possible to generate torques of up to 4 Nm. Within these boundaries image quality was not affected.

Incorporating Haptic Feedback in Simulation for Learning Physics

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Han, Insook; Black, John B.

2011-01-01

The purpose of this study was to investigate the effectiveness of a haptic augmented simulation in learning physics. The results indicate that haptic augmented simulations, both the force and kinesthetic and the purely kinesthetic simulations, were more effective than the equivalent non-haptic simulation in providing perceptual experiences and…

A magnetorheological haptic cue accelerator for manual transmission vehicles

International Nuclear Information System (INIS)

Han, Young-Min; Noh, Kyung-Wook; Choi, Seung-Bok; Lee, Yang-Sub

2010-01-01

This paper proposes a new haptic cue function for manual transmission vehicles to achieve optimal gear shifting. This function is implemented on the accelerator pedal by utilizing a magnetorheological (MR) brake mechanism. By combining the haptic cue function with the accelerator pedal, the proposed haptic cue device can transmit the optimal moment of gear shifting for manual transmission to a driver without requiring the driver's visual attention. As a first step to achieve this goal, a MR fluid-based haptic device is devised to enable rotary motion of the accelerator pedal. Taking into account spatial limitations, the design parameters are optimally determined using finite element analysis to maximize the relative control torque. The proposed haptic cue device is then manufactured and its field-dependent torque and time response are experimentally evaluated. Then the manufactured MR haptic cue device is integrated with the accelerator pedal. A simple virtual vehicle emulating the operation of the engine of a passenger vehicle is constructed and put into communication with the haptic cue device. A feed-forward torque control algorithm for the haptic cue is formulated and control performances are experimentally evaluated and presented in the time domain

Development of a Virtual Guitar using Haptic Device

OpenAIRE

田村,真晴; 山下,英生

2009-01-01

In recent years, a haptic device that output power as one of the computer output devices has been developed. We can get the feeling that we really touch the material through a sensor of haptic device when we touch a material simulated in a computer. In this research, a virtual guitar in which the feeling playing guitar and the sound volume are changed by adjusting power to input with a haptic device was developed. With the haptic device we feel as if we play a genuine guitar. Moreover, it see...

Video Game Device Haptic Interface for Robotic Arc Welding

Energy Technology Data Exchange (ETDEWEB)

Corrie I. Nichol; Milos Manic

2009-05-01

Recent advances in technology for video games have made a broad array of haptic feedback devices available at low cost. This paper presents a bi-manual haptic system to enable an operator to weld remotely using the a commercially available haptic feedback video game device for the user interface. The system showed good performance in initial tests, demonstrating the utility of low cost input devices for remote haptic operations.

FGB: A Graphical and Haptic User Interface for Creating Graphical, Haptic User Interfaces

International Nuclear Information System (INIS)

ANDERSON, THOMAS G.; BRECKENRIDGE, ARTHURINE; DAVIDSON, GEORGE S.

1999-01-01

The emerging field of haptics represents a fundamental change in human-computer interaction (HCI), and presents solutions to problems that are difficult or impossible to solve with a two-dimensional, mouse-based interface. To take advantage of the potential of haptics, however, innovative interaction techniques and programming environments are needed. This paper describes FGB (FLIGHT GHUI Builder), a programming tool that can be used to create an application specific graphical and haptic user interface (GHUI). FGB is itself a graphical and haptic user interface with which a programmer can intuitively create and manipulate components of a GHUI in real time in a graphical environment through the use of a haptic device. The programmer can create a GHUI without writing any programming code. After a user interface is created, FGB writes the appropriate programming code to a file, using the FLIGHT API, to recreate what the programmer created in the FGB interface. FGB saves programming time and increases productivity, because a programmer can see the end result as it is created, and FGB does much of the programming itself. Interestingly, as FGB was created, it was used to help build itself. The further FGB was in its development, the more easily and quickly it could be used to create additional functionality and improve its own design. As a finished product, FGB can be used to recreate itself in much less time than it originally required, and with much less programming. This paper describes FGB's GHUI components, the techniques used in the interface, how the output code is created, where programming additions and modifications should be placed, and how it can be compared to and integrated with existing API's such as MFC and Visual C++, OpenGL, and GHOST

Wide-Area Haptic Guidance: Taking the User by the Hand

OpenAIRE

Pérez Arias, Antonia; Hanebeck, Uwe D.

2010-01-01

In this paper, we present a novel use of haptic information in extended range telepresence, the wide-area haptic guidance. It consists of force and position signals applied to the user's hand in order to improve safety, accuracy, and speed in some telepresent tasks. Wide-area haptic guidance assists the user in reaching a desired position in a remote environment of arbitrary size without degrading the feeling of presence. Several methods for haptic guidance are analyzed. With active haptic gu...

Mechatronic design of haptic forceps for robotic surgery.

Science.gov (United States)

Rizun, P; Gunn, D; Cox, B; Sutherland, G

2006-12-01

Haptic feedback increases operator performance and comfort during telerobotic manipulation. Feedback of grasping pressure is critical in many microsurgical tasks, yet no haptic interface for surgical tools is commercially available. Literature on the psychophysics of touch was reviewed to define the spectrum of human touch perception and the fidelity requirements of an ideal haptic interface. Mechanical design and control literature was reviewed to translate the psychophysical requirements to engineering specification. High-fidelity haptic forceps were then developed through an iterative process between engineering and surgery. The forceps are a modular device that integrate with a haptic hand controller to add force feedback for tool actuation in telerobotic or virtual surgery. Their overall length is 153 mm and their mass is 125 g. A contact-free voice coil actuator generates force feedback at frequencies up to 800 Hz. Maximum force output is 6 N (2N continuous) and the force resolution is 4 mN. The forceps employ a contact-free magnetic position sensor as well as micro-machined accelerometers to measure opening/closing acceleration. Position resolution is 0.6 microm with 1.3 microm RMS noise. The forceps can simulate stiffness greater than 20N/mm or impedances smaller than 15 g with no noticeable haptic artifacts or friction. As telerobotic surgery evolves, haptics will play an increasingly important role. Copyright 2006 John Wiley & Sons, Ltd.

High Fidelity Haptic Rendering

CERN Document Server

Otaduy, Miguel A

2006-01-01

The human haptic system, among all senses, provides unique and bidirectional communication between humans and their physical environment. Yet, to date, most human-computer interactive systems have focused primarily on the graphical rendering of visual information and, to a lesser extent, on the display of auditory information. Extending the frontier of visual computing, haptic interfaces, or force feedback devices, have the potential to increase the quality of human-computer interaction by accommodating the sense of touch. They provide an attractive augmentation to visual display and enhance t

UPPER LIMB FUNCTIONAL ASSESSMENT USING HAPTIC INTERFACE

Directory of Open Access Journals (Sweden)

Aleš Bardorfer

2004-12-01

Full Text Available A new method for the assessment of the upper limb (UL functional state, using a haptic interface is presented. A haptic interface is used as a measuring device, capable of providing objective, repeatable and quantitative data of the UL motion. A patient is presented with a virtual environment, both graphically via a computer screen and haptically via the Phantom Premium 1.5 haptic interface. The setup allows the patient to explore and feel the virtual environment with three of his/her senses; sight, hearing, and most important, touch. Specially designed virtual environments are used to assess the patient’s UL movement capabilities. The tests range from tracking tasks – to assess the accuracy of movement – tracking tasks with added disturbances in a form of random forces – to assess the patient’s control abilities, a labyrinth test – to assess both speed and accuracy, to the last test for measuring the maximal force capacity of the UL.A new method for the assessment of the upper limb (UL functional state, using a haptic interface is presented. A haptic interface is used as a measuring device, capable of providing objective, repeatable and quantitative data of the UL motion. A patient is presented with a virtual environment, both graphically via a computer screen and haptically via the Phantom Premium 1.5 haptic interface. The setup allows the patient to explore and feel the virtual environment with three of his/her senses; sight, hearing, and most important, touch. Specially designed virtual environments are used to assess the patient’s UL movement capabilities. The tests range from tracking tasks–to assess the accuracy of movement-tracking tasks with added disturbances in a form of random forces-to assess the patient’s control abilities, a labyrinth test-to assess both speed and accuracy, to the last test for measuring the maximal force capacity of the UL.A comprehensive study, using the developed measurement setup within the

Neodymium:YAG laser cutting of intraocular lens haptics in vitro and in vivo.

Science.gov (United States)

Feder, J M; Rosenberg, M A; Farber, M D

1989-09-01

Various complications following intraocular lens (IOL) surgery result in explantation of the lenses. Haptic fibrosis may necessitate cutting the IOL haptics prior to removal. In this study we used the neodymium: YAG (Nd:YAG) laser to cut polypropylene and poly(methyl methacrylate) (PMMA) haptics in vitro and in rabbit eyes. In vitro we were able to cut 100% of both haptic types successfully (28 PMMA and 30 polypropylene haptics). In rabbit eyes we were able to cut 50% of the PMMA haptics and 43% of the polypropylene haptics. Poly(methyl methacrylate) haptics were easier to cut in vitro and in vivo than polypropylene haptics, requiring fewer shots for transection. Complications of Nd:YAG laser use frequently interfered with haptic transections in rabbit eyes. Haptic transection may be more easily accomplished in human eyes.

Haptic Feedback for the GPU-based Surgical Simulator

DEFF Research Database (Denmark)

Sørensen, Thomas Sangild; Mosegaard, Jesper

2006-01-01

The GPU has proven to be a powerful processor to compute spring-mass based surgical simulations. It has not previously been shown however, how to effectively implement haptic interaction with a simulation running entirely on the GPU. This paper describes a method to calculate haptic feedback...... with limited performance cost. It allows easy balancing of the GPU workload between calculations of simulation, visualisation, and the haptic feedback....

Haptic perception accuracy depending on self-produced movement.

Science.gov (United States)

Park, Chulwook; Kim, Seonjin

2014-01-01

This study measured whether self-produced movement influences haptic perception ability (experiment 1) as well as the factors associated with levels of influence (experiment 2) in racket sports. For experiment 1, the haptic perception accuracy levels of five male table tennis experts and five male novices were examined under two different conditions (no movement vs. movement). For experiment 2, the haptic afferent subsystems of five male table tennis experts and five male novices were investigated in only the self-produced movement-coupled condition. Inferential statistics (ANOVA, t-test) and custom-made devices (shock & vibration sensor, Qualisys Track Manager) of the data were used to determine the haptic perception accuracy (experiment 1, experiment 2) and its association with expertise. The results of this research show that expert-level players acquire higher accuracy with less variability (racket vibration and angle) than novice-level players, especially in their self-produced movement coupled performances. The important finding from this result is that, in terms of accuracy, the skill-associated differences were enlarged during self-produced movement. To explain the origin of this difference between experts and novices, the functional variability of haptic afferent subsystems can serve as a reference. These two factors (self-produced accuracy and the variability of haptic features) as investigated in this study would be useful criteria for educators in racket sports and suggest a broader hypothesis for further research into the effects of the haptic accuracy related to variability.

Visual-haptic integration with pliers and tongs: signal ‘weights’ take account of changes in haptic sensitivity caused by different tools

Directory of Open Access Journals (Sweden)

Chie eTakahashi

2014-02-01

Full Text Available When we hold an object while looking at it, estimates from visual and haptic cues to size are combined in a statistically optimal fashion, whereby the ‘weight’ given to each signal reflects their relative reliabilities. This allows object properties to be estimated more precisely than would otherwise be possible. Tools such as pliers and tongs systematically perturb the mapping between object size and the hand opening. This could complicate visual-haptic integration because it may alter the reliability of the haptic signal, thereby disrupting the determination of appropriate signal weights. To investigate this we first measured the reliability of haptic size estimates made with virtual pliers-like tools (created using a stereoscopic display and force-feedback robots with different ‘gains’ between hand opening and object size. Haptic reliability in tool use was straightforwardly determined by a combination of sensitivity to changes in hand opening and the effects of tool geometry. The precise pattern of sensitivity to hand opening, which violated Weber’s law, meant that haptic reliability changed with tool gain. We then examined whether the visuo-motor system accounts for these reliability changes. We measured the weight given to visual and haptic stimuli when both were available, again with different tool gains, by measuring the perceived size of stimuli in which visual and haptic sizes were varied independently. The weight given to each sensory cue changed with tool gain in a manner that closely resembled the predictions of optimal sensory integration. The results are consistent with the idea that different tool geometries are modelled by the brain, allowing it to calculate not only the distal properties of objects felt with tools, but also the certainty with which those properties are known. These findings highlight the flexibility of human sensory integration and tool-use, and potentially provide an approach for optimising the

Development of haptic system for surgical robot

Science.gov (United States)

Gang, Han Gyeol; Park, Jiong Min; Choi, Seung-Bok; Sohn, Jung Woo

2017-04-01

In this paper, a new type of haptic system for surgical robot application is proposed and its performances are evaluated experimentally. The proposed haptic system consists of an effective master device and a precision slave robot. The master device has 3-DOF rotational motion as same as human wrist motion. It has lightweight structure with a gyro sensor and three small-sized MR brakes for position measurement and repulsive torque generation, respectively. The slave robot has 3-DOF rotational motion using servomotors, five bar linkage and a torque sensor is used to measure resistive torque. It has been experimentally demonstrated that the proposed haptic system has good performances on tracking control of desired position and repulsive torque. It can be concluded that the proposed haptic system can be effectively applied to the surgical robot system in real field.

Haptic and Audio-visual Stimuli: Enhancing Experiences and Interaction

NARCIS (Netherlands)

Nijholt, Antinus; Dijk, Esko O.; Lemmens, Paul M.C.; Luitjens, S.B.

2010-01-01

The intention of the symposium on Haptic and Audio-visual stimuli at the EuroHaptics 2010 conference is to deepen the understanding of the effect of combined Haptic and Audio-visual stimuli. The knowledge gained will be used to enhance experiences and interactions in daily life. To this end, a

Visual-Haptic Integration: Cue Weights are Varied Appropriately, to Account for Changes in Haptic Reliability Introduced by Using a Tool

OpenAIRE

Chie Takahashi; Simon J Watt

2011-01-01

Tools such as pliers systematically change the relationship between an object's size and the hand opening required to grasp it. Previous work suggests the brain takes this into account, integrating visual and haptic size information that refers to the same object, independent of the similarity of the ‘raw’ visual and haptic signals (Takahashi et al., VSS 2009). Variations in tool geometry also affect the reliability (precision) of haptic size estimates, however, because they alter the change ...

Visuo-Haptic Mixed Reality with Unobstructed Tool-Hand Integration.

Science.gov (United States)

Cosco, Francesco; Garre, Carlos; Bruno, Fabio; Muzzupappa, Maurizio; Otaduy, Miguel A

2013-01-01

Visuo-haptic mixed reality consists of adding to a real scene the ability to see and touch virtual objects. It requires the use of see-through display technology for visually mixing real and virtual objects, and haptic devices for adding haptic interaction with the virtual objects. Unfortunately, the use of commodity haptic devices poses obstruction and misalignment issues that complicate the correct integration of a virtual tool and the user's real hand in the mixed reality scene. In this work, we propose a novel mixed reality paradigm where it is possible to touch and see virtual objects in combination with a real scene, using commodity haptic devices, and with a visually consistent integration of the user's hand and the virtual tool. We discuss the visual obstruction and misalignment issues introduced by commodity haptic devices, and then propose a solution that relies on four simple technical steps: color-based segmentation of the hand, tracking-based segmentation of the haptic device, background repainting using image-based models, and misalignment-free compositing of the user's hand. We have developed a successful proof-of-concept implementation, where a user can touch virtual objects and interact with them in the context of a real scene, and we have evaluated the impact on user performance of obstruction and misalignment correction.

Haptic Discrimination of Distance

Science.gov (United States)

van Beek, Femke E.; Bergmann Tiest, Wouter M.; Kappers, Astrid M. L.

2014-01-01

While quite some research has focussed on the accuracy of haptic perception of distance, information on the precision of haptic perception of distance is still scarce, particularly regarding distances perceived by making arm movements. In this study, eight conditions were measured to answer four main questions, which are: what is the influence of reference distance, movement axis, perceptual mode (active or passive) and stimulus type on the precision of this kind of distance perception? A discrimination experiment was performed with twelve participants. The participants were presented with two distances, using either a haptic device or a real stimulus. Participants compared the distances by moving their hand from a start to an end position. They were then asked to judge which of the distances was the longer, from which the discrimination threshold was determined for each participant and condition. The precision was influenced by reference distance. No effect of movement axis was found. The precision was higher for active than for passive movements and it was a bit lower for real stimuli than for rendered stimuli, but it was not affected by adding cutaneous information. Overall, the Weber fraction for the active perception of a distance of 25 or 35 cm was about 11% for all cardinal axes. The recorded position data suggest that participants, in order to be able to judge which distance was the longer, tried to produce similar speed profiles in both movements. This knowledge could be useful in the design of haptic devices. PMID:25116638

Haptic discrimination of distance.

Directory of Open Access Journals (Sweden)

Femke E van Beek

Full Text Available While quite some research has focussed on the accuracy of haptic perception of distance, information on the precision of haptic perception of distance is still scarce, particularly regarding distances perceived by making arm movements. In this study, eight conditions were measured to answer four main questions, which are: what is the influence of reference distance, movement axis, perceptual mode (active or passive and stimulus type on the precision of this kind of distance perception? A discrimination experiment was performed with twelve participants. The participants were presented with two distances, using either a haptic device or a real stimulus. Participants compared the distances by moving their hand from a start to an end position. They were then asked to judge which of the distances was the longer, from which the discrimination threshold was determined for each participant and condition. The precision was influenced by reference distance. No effect of movement axis was found. The precision was higher for active than for passive movements and it was a bit lower for real stimuli than for rendered stimuli, but it was not affected by adding cutaneous information. Overall, the Weber fraction for the active perception of a distance of 25 or 35 cm was about 11% for all cardinal axes. The recorded position data suggest that participants, in order to be able to judge which distance was the longer, tried to produce similar speed profiles in both movements. This knowledge could be useful in the design of haptic devices.

Prevailing Trends in Haptic Feedback Simulation for Minimally Invasive Surgery.

Science.gov (United States)

Pinzon, David; Byrns, Simon; Zheng, Bin

2016-08-01

Background The amount of direct hand-tool-tissue interaction and feedback in minimally invasive surgery varies from being attenuated in laparoscopy to being completely absent in robotic minimally invasive surgery. The role of haptic feedback during surgical skill acquisition and its emphasis in training have been a constant source of controversy. This review discusses the major developments in haptic simulation as they relate to surgical performance and the current research questions that remain unanswered. Search Strategy An in-depth review of the literature was performed using PubMed. Results A total of 198 abstracts were returned based on our search criteria. Three major areas of research were identified, including advancements in 1 of the 4 components of haptic systems, evaluating the effectiveness of haptic integration in simulators, and improvements to haptic feedback in robotic surgery. Conclusions Force feedback is the best method for tissue identification in minimally invasive surgery and haptic feedback provides the greatest benefit to surgical novices in the early stages of their training. New technology has improved our ability to capture, playback and enhance to utility of haptic cues in simulated surgery. Future research should focus on deciphering how haptic training in surgical education can increase performance, safety, and improve training efficiency. © The Author(s) 2016.

Simulation and training of lumbar punctures using haptic volume rendering and a 6DOF haptic device

Science.gov (United States)

Färber, Matthias; Heller, Julika; Handels, Heinz

2007-03-01

The lumbar puncture is performed by inserting a needle into the spinal chord of the patient to inject medicaments or to extract liquor. The training of this procedure is usually done on the patient guided by experienced supervisors. A virtual reality lumbar puncture simulator has been developed in order to minimize the training costs and the patient's risk. We use a haptic device with six degrees of freedom (6DOF) to feedback forces that resist needle insertion and rotation. An improved haptic volume rendering approach is used to calculate the forces. This approach makes use of label data of relevant structures like skin, bone, muscles or fat and original CT data that contributes information about image structures that can not be segmented. A real-time 3D visualization with optional stereo view shows the punctured region. 2D visualizations of orthogonal slices enable a detailed impression of the anatomical context. The input data consisting of CT and label data and surface models of relevant structures is defined in an XML file together with haptic rendering and visualization parameters. In a first evaluation the visible human male data has been used to generate a virtual training body. Several users with different medical experience tested the lumbar puncture trainer. The simulator gives a good haptic and visual impression of the needle insertion and the haptic volume rendering technique enables the feeling of unsegmented structures. Especially, the restriction of transversal needle movement together with rotation constraints enabled by the 6DOF device facilitate a realistic puncture simulation.

Audio-haptic interaction in simulated walking experiences

DEFF Research Database (Denmark)

Serafin, Stefania

2011-01-01

and interchangeable use of the haptic and auditory modality in floor interfaces, and for the synergy of perception and action in capturing and guiding human walking. We describe the technology developed in the context of this project, together with some experiments performed to evaluate the role of auditory......In this paper an overview of the work conducted on audio-haptic physically based simulation and evaluation of walking is provided. This work has been performed in the context of the Natural Interactive Walking (NIW) project, whose goal is to investigate possibilities for the integrated...... and haptic feedback in walking tasks....

Haptic sense and the politicization of contemporary image

Directory of Open Access Journals (Sweden)

Tarcisio Torres Silva

2017-08-01

Full Text Available In this paper, it is intended to propose a theoretical approach to the political effects of the sense of touch/haptic in order to understand to what extent the intensification of contemporary haptic experience contributes to create proximity and engagement among individuals overloaded by too much visual information offered by multiple media. At the end, it is mentioned the work of Brazilian artist Rodrigo Braga to exemplify the contemporary political use of haptic sense.

Conflicting audio-haptic feedback in physically based simulation of walking sounds

DEFF Research Database (Denmark)

Turchet, Luca; Serafin, Stefania; Dimitrov, Smilen

2010-01-01

We describe an audio-haptic experiment conducted using a system which simulates in real-time the auditory and haptic sensation of walking on different surfaces. The system is based on physical models, that drive both the haptic and audio synthesizers, and a pair of shoes enhanced with sensors...... and actuators. Such experiment was run to examine the ability of subjects to recognize the different surfaces with both coherent and incoherent audio-haptic stimuli. Results show that in this kind of tasks the auditory modality is dominant on the haptic one....

Multimodal Sensing Interface for Haptic Interaction

Directory of Open Access Journals (Sweden)

Carlos Diaz

2017-01-01

Full Text Available This paper investigates the integration of a multimodal sensing system for exploring limits of vibrato tactile haptic feedback when interacting with 3D representation of real objects. In this study, the spatial locations of the objects are mapped to the work volume of the user using a Kinect sensor. The position of the user’s hand is obtained using the marker-based visual processing. The depth information is used to build a vibrotactile map on a haptic glove enhanced with vibration motors. The users can perceive the location and dimension of remote objects by moving their hand inside a scanning region. A marker detection camera provides the location and orientation of the user’s hand (glove to map the corresponding tactile message. A preliminary study was conducted to explore how different users can perceive such haptic experiences. Factors such as total number of objects detected, object separation resolution, and dimension-based and shape-based discrimination were evaluated. The preliminary results showed that the localization and counting of objects can be attained with a high degree of success. The users were able to classify groups of objects of different dimensions based on the perceived haptic feedback.

Introduction to haptics for neurosurgeons.

Science.gov (United States)

L'Orsa, Rachael; Macnab, Chris J B; Tavakoli, Mahdi

2013-01-01

Robots are becoming increasingly relevant to neurosurgeons, extending a neurosurgeon's physical capabilities, improving navigation within the surgical landscape when combined with advanced imaging, and propelling the movement toward minimally invasive surgery. Most surgical robots, however, isolate surgeons from the full range of human senses during a procedure. This forces surgeons to rely on vision alone for guidance through the surgical corridor, which limits the capabilities of the system, requires significant operator training, and increases the surgeon's workload. Incorporating haptics into these systems, ie, enabling the surgeon to "feel" forces experienced by the tool tip of the robot, could render these limitations obsolete by making the robot feel more like an extension of the surgeon's own body. Although the use of haptics in neurosurgical robots is still mostly the domain of research, neurosurgeons who keep abreast of this emerging field will be more prepared to take advantage of it as it becomes more prevalent in operating theaters. Thus, this article serves as an introduction to the field of haptics for neurosurgeons. We not only outline the current and future benefits of haptics but also introduce concepts in the fields of robotic technology and computer control. This knowledge will allow readers to be better aware of limitations in the technology that can affect performance and surgical outcomes, and "knowing the right questions to ask" will be invaluable for surgeons who have purchasing power within their departments.

Haptic Feedback for Enhancing Realism of Walking Simulations

DEFF Research Database (Denmark)

Turchet, Luca; Burelli, Paolo; Serafin, Stefania

2013-01-01

system. While during the use of the interactive system subjects physically walked, during the use of the non-interactive system the locomotion was simulated while subjects were sitting on a chair. In both the configurations subjects were exposed to auditory and audio-visual stimuli presented...... with and without the haptic feedback. Results of the experiments provide a clear preference towards the simulations enhanced with haptic feedback showing that the haptic channel can lead to more realistic experiences in both interactive and non-interactive configurations. The majority of subjects clearly...... appreciated the added feedback. However, some subjects found the added feedback disturbing and annoying. This might be due on one hand to the limits of the haptic simulation and on the other hand to the different individual desire to be involved in the simulations. Our findings can be applied to the context...

Vertical illusory self-motion through haptic stimulation of the feet

DEFF Research Database (Denmark)

Nordahl, Rolf; Nilsson, Niels Christian; Turchet, Luca

2012-01-01

Circular and linear self-motion illusions induced through visual and auditory stimuli have been studied rather extensively. While the ability of haptic stimuli to augment such illusions has been investigated, the self-motion illusions which primarily are induced by stimulation of the haptic...... to generate the haptic feedback while the final condition included no haptic feedback. Analysis of self-reports were used to assess the participants' experience of illusory self-motion. The results indicate that such illusions are indeed possible. Significant differences were found between the condition...... modality remain relatively unexplored. In this paper, we present an experiment performed with the intention of investigating whether it is possible to use haptic stimulation of the main supporting areas of the feet to induce vertical illusory self-motion on behalf of unrestrained participants during...

Design and Control of a Haptic Enabled Robotic Manipulator

Directory of Open Access Journals (Sweden)

Muhammad Yaqoob

2015-07-01

Full Text Available Robotic surgery offers various advantages over conventional surgery that includes less bleeding, less trauma, and more precise tissue cutting. However, even surgeons who use the best commercially available surgical robotic systems complain about the absence of haptic feedback in such systems. In this paper, we present the findings of our project to overcome this shortcoming of surgical robotic systems, in which a haptic-enabled robotic system based on master and slave topology is designed and developed. To detect real-time intrusion at the slave end, haptic feedback is implemented along with a programmable system on chip, functioning as an embedded system for processing information. In order to obtain real-time haptic feedback, force and motion sensors are mounted on each joint of the master and slave units. At the master end, results are displayed through a graphical user interface, along with the physical feeling of intrusion at the slave part. Apart from the obvious applications of the current system in robotic surgery, it could also be used in designing more intuitive video games with further precise haptic feedback mechanisms. Moreover, the results presented in our work should pave the way for further scientific investigation, to provide even better haptic mechanisms.

Haptic spatial matching in near peripersonal space.

Science.gov (United States)

Kaas, Amanda L; Mier, Hanneke I van

2006-04-01

Research has shown that haptic spatial matching at intermanual distances over 60 cm is prone to large systematic errors. The error pattern has been explained by the use of reference frames intermediate between egocentric and allocentric coding. This study investigated haptic performance in near peripersonal space, i.e. at intermanual distances of 60 cm and less. Twelve blindfolded participants (six males and six females) were presented with two turn bars at equal distances from the midsagittal plane, 30 or 60 cm apart. Different orientations (vertical/horizontal or oblique) of the left bar had to be matched by adjusting the right bar to either a mirror symmetric (/ \\) or parallel (/ /) position. The mirror symmetry task can in principle be performed accurately in both an egocentric and an allocentric reference frame, whereas the parallel task requires an allocentric representation. Results showed that parallel matching induced large systematic errors which increased with distance. Overall error was significantly smaller in the mirror task. The task difference also held for the vertical orientation at 60 cm distance, even though this orientation required the same response in both tasks, showing a marked effect of task instruction. In addition, men outperformed women on the parallel task. Finally, contrary to our expectations, systematic errors were found in the mirror task, predominantly at 30 cm distance. Based on these findings, we suggest that haptic performance in near peripersonal space might be dominated by different mechanisms than those which come into play at distances over 60 cm. Moreover, our results indicate that both inter-individual differences and task demands affect task performance in haptic spatial matching. Therefore, we conclude that the study of haptic spatial matching in near peripersonal space might reveal important additional constraints for the specification of adequate models of haptic spatial performance.

Haptic sensitivity in needle insertion: the effects of training and visual aid

Directory of Open Access Journals (Sweden)

Dumas Cedric

2011-12-01

Full Text Available This paper describes an experiment conducted to measure haptic sensitivity and the effects of haptic training with and without visual aid. The protocol for haptic training consisted of a needle insertion task using dual-layer silicon samples. A visual aid was provided as a multimodal cue for the haptic perception task. Results showed that for a group of novices (subjects with no previous experience in needle insertion, training with a visual aid resulted in a longer time to task completion, and a greater applied force, during post-training tests. This suggests that haptic perception is easily overshadowed, and may be completely replaced, by visual feedback. Therefore, haptic skills must be trained differently from visuomotor skills.

Vision holds a greater share in visuo-haptic object recognition than touch

DEFF Research Database (Denmark)

Kassuba, Tanja; Klinge, Corinna; Hölig, Cordula

2013-01-01

approach of multisensory integration would predict that haptics as the less efficient sense for object recognition gains more from integrating additional visual information than vice versa. To test for asymmetries between vision and touch in visuo-haptic interactions, we measured regional changes in brain...... processed the target object, being more pronounced for haptic than visual targets. This preferential response of visuo-haptic regions indicates a modality-specific asymmetry in crossmodal matching of visual and haptic object features, suggesting a functional primacy of vision over touch in visuo...

Inflation in a shear-or curvature-dominated universe

International Nuclear Information System (INIS)

Steigman, G.; Turner, M.S.

1983-01-01

We show that new inflation occurs even if the universe is shear-or (negative) curvature-dominated when the phase transition begins. In such situations the size of a causally coherent region, after inflation, is only slightly smaller (by powers, but not by exponential factors) than the usual result. The creation and evolution of density perturbations is unaffected. This result is marked contrast to 'old' inflation, where shear- or curvature-domination could quench inflation. (orig.)

[Haptic tracking control for minimally invasive robotic surgery].

Science.gov (United States)

Xu, Zhaohong; Song, Chengli; Wu, Wenwu

2012-06-01

Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

Enhancing audiovisual experience with haptic feedback: a survey on HAV.

Science.gov (United States)

Danieau, F; Lecuyer, A; Guillotel, P; Fleureau, J; Mollet, N; Christie, M

2013-01-01

Haptic technology has been widely employed in applications ranging from teleoperation and medical simulation to art and design, including entertainment, flight simulation, and virtual reality. Today there is a growing interest among researchers in integrating haptic feedback into audiovisual systems. A new medium emerges from this effort: haptic-audiovisual (HAV) content. This paper presents the techniques, formalisms, and key results pertinent to this medium. We first review the three main stages of the HAV workflow: the production, distribution, and rendering of haptic effects. We then highlight the pressing necessity for evaluation techniques in this context and discuss the key challenges in the field. By building on existing technologies and tackling the specific challenges of the enhancement of audiovisual experience with haptics, we believe the field presents exciting research perspectives whose financial and societal stakes are significant.

A haptic floor for interaction and diagnostics with goal based tasks during virtual reality supported balance training

Directory of Open Access Journals (Sweden)

Andrej Krpič

2014-03-01

Full Text Available Background: Balance training of patients after stroke is one of the primary tasks of physiotherapy after the hospitalization. It is based on the intensive training, which consists of simple, repetitive, goal-based tasks. The tasks are carried out by physiotherapists, who follow predefined protocols. Introduction of a standing frame and a virtual reality decrease the physical load and number of required physiotherapists. The patients benefit in terms of safety and increased motivation. Additional feedback – haptic floor can enhance the virtual reality experience, add additional level of difficulty and could be also used for generating postural perturbations. The purpose of this article is to examine whether haptic information can be used to identify specific anomalies in dynamic posturography.Methods: The performance and stability of closed-loop system of the haptic floor were tested using frequency analysis. A postural response normative was set up from data assessed in four healthy individuals who were exposed to unexpected movements of the haptic floor in eight directions. Postural responses of a patient after stroke participating in virtual reality supported balance training, where collisions resulted in floor movements, were assessed and contrasted to the normative.Results: Haptic floor system was stable and controllable up to the frequency of 1.1 Hz, sufficient for the generation of postural perturbations. Responses obtained after perturbations in two major directions for a patient after stroke demonstrated noticeable deviations from the normative.Conclusions: Haptic floor design, together with a standing frame and a virtual reality used for balance training, enables an assessment of directionally specific postural responses. The system was designed to identify postural disorders during balance training and rehabilitation progress outside specialized clinics, e.g. at patient’s home.

Evaluation of flexible endoscope steering using haptic guidance

NARCIS (Netherlands)

Reilink, Rob; Stramigioli, Stefano; Kappers, Astrid M L; Misra, Sarthak

Background: Steering the tip of a flexible endoscope relies on the physician's dexterity and experience. For complex flexible endoscopes, conventional controls may be inadequate. Methods: A steering method based on a multi-degree-of-freedom haptic device is presented. Haptic cues are generated based

Evaluation of flexible endoscope steering using haptic guidance

NARCIS (Netherlands)

Reilink, Rob; Stramigioli, Stefano; Kappers, Astrid M.L.; Misra, Sarthak

2011-01-01

Background - Steering the tip of a flexible endoscope relies on the physician’s dexterity and experience. For complex flexible endoscopes, conventional controls may be inadequate. Methods - A steering method based on a multi-degree-of-freedom haptic device is presented. Haptic cues are generated

Surface meshing with curvature convergence

KAUST Repository

Li, Huibin; Zeng, Wei; Morvan, Jean-Marie; Chen, Liming; Gu, Xianfengdavid

2014-01-01

Surface meshing plays a fundamental role in graphics and visualization. Many geometric processing tasks involve solving geometric PDEs on meshes. The numerical stability, convergence rates and approximation errors are largely determined by the mesh qualities. In practice, Delaunay refinement algorithms offer satisfactory solutions to high quality mesh generations. The theoretical proofs for volume based and surface based Delaunay refinement algorithms have been established, but those for conformal parameterization based ones remain wide open. This work focuses on the curvature measure convergence for the conformal parameterization based Delaunay refinement algorithms. Given a metric surface, the proposed approach triangulates its conformal uniformization domain by the planar Delaunay refinement algorithms, and produces a high quality mesh. We give explicit estimates for the Hausdorff distance, the normal deviation, and the differences in curvature measures between the surface and the mesh. In contrast to the conventional results based on volumetric Delaunay refinement, our stronger estimates are independent of the mesh structure and directly guarantee the convergence of curvature measures. Meanwhile, our result on Gaussian curvature measure is intrinsic to the Riemannian metric and independent of the embedding. In practice, our meshing algorithm is much easier to implement and much more efficient. The experimental results verified our theoretical results and demonstrated the efficiency of the meshing algorithm. © 2014 IEEE.

Surface meshing with curvature convergence

KAUST Repository

Li, Huibin

2014-06-01

Surface meshing plays a fundamental role in graphics and visualization. Many geometric processing tasks involve solving geometric PDEs on meshes. The numerical stability, convergence rates and approximation errors are largely determined by the mesh qualities. In practice, Delaunay refinement algorithms offer satisfactory solutions to high quality mesh generations. The theoretical proofs for volume based and surface based Delaunay refinement algorithms have been established, but those for conformal parameterization based ones remain wide open. This work focuses on the curvature measure convergence for the conformal parameterization based Delaunay refinement algorithms. Given a metric surface, the proposed approach triangulates its conformal uniformization domain by the planar Delaunay refinement algorithms, and produces a high quality mesh. We give explicit estimates for the Hausdorff distance, the normal deviation, and the differences in curvature measures between the surface and the mesh. In contrast to the conventional results based on volumetric Delaunay refinement, our stronger estimates are independent of the mesh structure and directly guarantee the convergence of curvature measures. Meanwhile, our result on Gaussian curvature measure is intrinsic to the Riemannian metric and independent of the embedding. In practice, our meshing algorithm is much easier to implement and much more efficient. The experimental results verified our theoretical results and demonstrated the efficiency of the meshing algorithm. © 2014 IEEE.

Haptic interfaces using dielectric electroactive polymers

Science.gov (United States)

Ozsecen, Muzaffer Y.; Sivak, Mark; Mavroidis, Constantinos

2010-04-01

Quality, amplitude and frequency of the interaction forces between a human and an actuator are essential traits for haptic applications. A variety of Electro-Active Polymer (EAP) based actuators can provide these characteristics simultaneously with quiet operation, low weight, high power density and fast response. This paper demonstrates a rolled Dielectric Elastomer Actuator (DEA) being used as a telepresence device in a heart beat measurement application. In the this testing, heart signals were acquired from a remote location using a wireless heart rate sensor, sent through a network and DEA was used to haptically reproduce the heart beats at the medical expert's location. A series of preliminary human subject tests were conducted that demonstrated that a) DE based haptic feeling can be used in heart beat measurement tests and b) through subjective testing the stiffness and actuator properties of the EAP can be tuned for a variety of applications.

Teaching Classical Mechanics Concepts Using Visuo-Haptic Simulators

Science.gov (United States)

Neri, Luis; Noguez, Julieta; Robledo-Rella, Victor; Escobar-Castillejos, David; Gonzalez-Nucamendi, Andres

2018-01-01

In this work, the design and implementation of several physics scenarios using haptic devices are presented and discussed. Four visuo-haptic applications were developed for an undergraduate engineering physics course. Experiments with experimental and control groups were designed and implemented. Activities and exercises related to classical…

The role of haptic feedback in laparoscopic simulation training.

Science.gov (United States)

Panait, Lucian; Akkary, Ehab; Bell, Robert L; Roberts, Kurt E; Dudrick, Stanley J; Duffy, Andrew J

2009-10-01

Laparoscopic virtual reality simulators are becoming a ubiquitous tool in resident training and assessment. These devices provide the operator with various levels of realism, including haptic (or force) feedback. However, this feature adds significantly to the cost of the devices, and limited data exist assessing the value of haptics in skill acquisition and development. Utilizing the Laparoscopy VR (Immersion Medical, Gaithersburg, MD), we hypothesized that the incorporation of force feedback in the simulated operative environment would allow superior trainee performance compared with performance of the same basic skills tasks in a non-haptic model. Ten medical students with minimal laparoscopic experience and similar baseline skill levels as proven by performance of two fundamentals of laparoscopic surgery (FLS) tasks (peg transfer and cutting drills) voluntarily participated in the study. Each performed two tasks, analogous to the FLS drills, on the Laparoscopy VR at 3 levels of difficulty, based on the established settings of the manufacturer. After achieving familiarity with the device and tasks, the students completed the drills both with and without force feedback. Data on completion time, instrument path length, right and left hand errors, and grasping tension were analyzed. The scores in the haptic-enhanced simulation environment were compared with the scores in the non-haptic model and analyzed utilizing Student's t-test. The peg transfer drill showed no difference in performance between the haptic and non-haptic simulations for all metrics at all three levels of difficulty. For the more complex cutting exercise, the time to complete the tasks was significantly shorter when force feedback was provided, at all levels of difficulty (158+/-56 versus 187+/-51 s, 176+/-49 versus 222+/-68 s, and 275+/-76 versus 422+/-220 s, at levels 1, 2, and 3, respectively, Psimulation did not demonstrate an appreciable performance improvement among our trainees. These data

End-to-End Flow Control for Visual-Haptic Communication under Bandwidth Change

Science.gov (United States)

Yashiro, Daisuke; Tian, Dapeng; Yakoh, Takahiro

This paper proposes an end-to-end flow controller for visual-haptic communication. A visual-haptic communication system transmits non-real-time packets, which contain large-size visual data, and real-time packets, which contain small-size haptic data. When the transmission rate of visual data exceeds the communication bandwidth, the visual-haptic communication system becomes unstable owing to buffer overflow. To solve this problem, an end-to-end flow controller is proposed. This controller determines the optimal transmission rate of visual data on the basis of the traffic conditions, which are estimated by the packets for haptic communication. Experimental results confirm that in the proposed method, a short packet-sending interval and a short delay are achieved under bandwidth change, and thus, high-precision visual-haptic communication is realized.

Haptic interface of the KAIST-Ewha colonoscopy simulator II.

Science.gov (United States)

Woo, Hyun Soo; Kim, Woo Seok; Ahn, Woojin; Lee, Doo Yong; Yi, Sun Young

2008-11-01

This paper presents an improved haptic interface for the Korea Advanced Institute of Science and Technology Ewha Colonoscopy Simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing sufficient workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures the profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors and triggers computations to render accurate graphic images corresponding to the rotation of the angle knob. Tack sensors are attached to the valve-actuation buttons of the colonoscope to simulate air injection or suction as well as the corresponding deformation of the colon. A survey study for face validation was conducted, and the result shows that the developed haptic interface provides realistic haptic feedback for colonoscopy simulations.

Haptic Routes and digestive destinations in cooking series

DEFF Research Database (Denmark)

Waade, Anne Marit; Jørgensen, Ulla Angkjær

2010-01-01

and the media in which aesthetical, cultural and symbolic values are related to the way food is mediatised. The main argument is that cooking television series produce haptic images of place and food that include a specific sensuous and emotional relation between screen and viewer. The haptic imagery...

Semantic congruence in audio-haptic simulation of footsteps

DEFF Research Database (Denmark)

Turchet, Luca; Serafin, Stefania

2014-01-01

of semantic congruence for those audio–haptic pairs of materials which belonged to the same typology. Furthermore, better matching ability was found for the passive case compared to the interactive one, although this may be due to the limits of the technology used for the interactive haptic simulations....

Binding in haptics: integration of "what" and "where" information in working memory for active touch.

Directory of Open Access Journals (Sweden)

Franco Delogu

Full Text Available Information about the identity and the location of perceptual objects can be automatically integrated in perception and working memory (WM. Contrasting results in visual and auditory WM studies indicate that the characteristics of feature-to-location binding can vary according to the sensory modality of the input. The present study provides first evidence of binding between "what" and "where" information in WM for haptic stimuli. In an old-new recognition task, blindfolded participants were presented in their peripersonal space with sequences of three haptic stimuli varying in texture and location. They were then required to judge if a single probe stimulus was previously included in the sequence. Recall was measured both in a condition in which both texture and location were relevant for the task (Experiment 1 and in two conditions where only one feature had to be recalled (Experiment 2. Results showed that when both features were task-relevant, even if the association of location and texture was neither necessary nor required to perform the task, participants exhibited a recall advantage in conditions in which the location and the texture of the target probe was kept unaltered between encoding and recall. By contrast, when only one feature was task-relevant, the concurrent feature did not influence the recall of the target feature. We conclude that attention to feature binding is not necessary for the emergence of feature integration in haptic WM. For binding to take place, however, it is necessary to encode and maintain in memory both the identity and the location of items.

Curvature effects in carbon nanomaterials: Exohedral versus endohedral supercapacitors

OpenAIRE

Huang, Jingsong; Bobby,; Sumpter, Bobby G.; Meunier, Vincent; Yushin, Gleb; Portet, Cristelle; Gogotsi, Yury

2010-01-01

Capacitive energy storage mechanisms in nanoporous carbon supercapacitors hinge on endohedral interactions in carbon materials with macro-, meso-, and micropores that have negative surface curvature. In this article, we show that because of the positive curvature found in zero-dimensional carbon onions or one-dimensional carbon nanotube arrays, exohedral interactions cause the normalized capacitance to increase with decreasing particle size or tube diameter, in sharp contrast to the behavior ...

Haptograph Representation of Real-World Haptic Information by Wideband Force Control

Science.gov (United States)

Katsura, Seiichiro; Irie, Kouhei; Ohishi, Kiyoshi

Artificial acquisition and reproduction of human sensations are basic technologies of communication engineering. For example, auditory information is obtained by a microphone, and a speaker reproduces it by artificial means. Furthermore, a video camera and a television make it possible to transmit visual sensation by broadcasting. On the contrary, since tactile or haptic information is subject to the Newton's “law of action and reaction” in the real world, a device which acquires, transmits, and reproduces the information has not been established. From the point of view, real-world haptics is the key technology for future haptic communication engineering. This paper proposes a novel acquisition method of haptic information named “haptograph”. The haptograph visualizes the haptic information like photograph. The proposed haptograph is applied to haptic recognition of the contact environment. A linear motor contacts to the surface of the environment and its reaction force is used to make a haptograph. A robust contact motion and sensor-less sensing of the reaction force are attained by using a disturbance observer. As a result, an encyclopedia of contact environment is attained. Since temporal and spatial analyses are conducted to represent haptic information as the haptograph, it is possible to be recognized and to be evaluated intuitively.

A study on haptic collaborative game in shared virtual environment

Science.gov (United States)

Lu, Keke; Liu, Guanyang; Liu, Lingzhi

2013-03-01

A study on collaborative game in shared virtual environment with haptic feedback over computer networks is introduced in this paper. A collaborative task was used where the players located at remote sites and played the game together. The player can feel visual and haptic feedback in virtual environment compared to traditional networked multiplayer games. The experiment was desired in two conditions: visual feedback only and visual-haptic feedback. The goal of the experiment is to assess the impact of force feedback on collaborative task performance. Results indicate that haptic feedback is beneficial for performance enhancement for collaborative game in shared virtual environment. The outcomes of this research can have a powerful impact on the networked computer games.

OzBot and haptics: remote surveillance to physical presence

Science.gov (United States)

Mullins, James; Fielding, Mick; Nahavandi, Saeid

2009-05-01

This paper reports on robotic and haptic technologies and capabilities developed for the law enforcement and defence community within Australia by the Centre for Intelligent Systems Research (CISR). The OzBot series of small and medium surveillance robots have been designed in Australia and evaluated by law enforcement and defence personnel to determine suitability and ruggedness in a variety of environments. Using custom developed digital electronics and featuring expandable data busses including RS485, I2C, RS232, video and Ethernet, the robots can be directly connected to many off the shelf payloads such as gas sensors, x-ray sources and camera systems including thermal and night vision. Differentiating the OzBot platform from its peers is its ability to be integrated directly with haptic technology or the 'haptic bubble' developed by CISR. Haptic interfaces allow an operator to physically 'feel' remote environments through position-force control and experience realistic force feedback. By adding the capability to remotely grasp an object, feel its weight, texture and other physical properties in real-time from the remote ground control unit, an operator's situational awareness is greatly improved through Haptic augmentation in an environment where remote-system feedback is often limited.

A magnetorheological fluid-based multifunctional haptic device for vehicular instrument controls

International Nuclear Information System (INIS)

Han, Young-Min; Kim, Chan-Jung; Choi, Seung-Bok

2009-01-01

This paper presents control performances of a magnetorheological (MR) fluid-based multifunctional haptic device which is applicable to vehicular instrument controls. By combining in-vehicle functions into a single device, the proposed haptic device can transmit various reflection forces for each comfort function to a driver without requiring the driver's visual attention. As a multifunctional haptic device, a MR knob is proposed in this work and then devised to be capable of both rotary and push motions with a single knob. Under consideration of the spatial limitations of vehicle dashboards, design parameters are optimally determined by finite element analysis, and the objective function is to maximize a relative control torque. The proposed haptic device is then manufactured, and in-vehicle comfort functions are constructed in a virtual environment which makes the functions to communicate with the haptic device. Subsequently, a feed-forward controller using torque/force maps is formulated for the force tracking control. Control performances such as reflection force of the haptic device are experimentally evaluated via the torque/force map-based feed-forward controller

Investigating Students' Ideas About Buoyancy and the Influence of Haptic Feedback

Science.gov (United States)

Minogue, James; Borland, David

2016-04-01

While haptics (simulated touch) represents a potential breakthrough technology for science teaching and learning, there is relatively little research into its differential impact in the context of teaching and learning. This paper describes the testing of a haptically enhanced simulation (HES) for learning about buoyancy. Despite a lifetime of everyday experiences, a scientifically sound explanation of buoyancy remains difficult to construct for many. It requires the integration of domain-specific knowledge regarding density, fluid, force, gravity, mass, weight, and buoyancy. Prior studies suggest that novices often focus on only one dimension of the sinking and floating phenomenon. Our HES was designed to promote the integration of the subconcepts of density and buoyant forces and stresses the relationship between the object itself and the surrounding fluid. The study employed a randomized pretest-posttest control group research design and a suite of measures including an open-ended prompt and objective content questions to provide insights into the influence of haptic feedback on undergraduate students' thinking about buoyancy. A convenience sample (n = 40) was drawn from a university's population of undergraduate elementary education majors. Two groups were formed from haptic feedback (n = 22) and no haptic feedback (n = 18). Through content analysis, discernible differences were seen in the posttest explanations sinking and floating across treatment groups. Learners that experienced the haptic feedback made more frequent use of "haptically grounded" terms (e.g., mass, gravity, buoyant force, pushing), leading us to begin to build a local theory of language-mediated haptic cognition.

Effect on High versus Low Fidelity Haptic Feedback in a Virtual Reality Baseball Simulation

DEFF Research Database (Denmark)

Ryge, Andreas Nicolaj; Thomsen, Lui Albæk; Berthelsen, Theis

2017-01-01

In this paper we present a within-subjects study (n=26) comparing participants' experience of three kinds of haptic feedback (no haptic feedback, low fidelity haptic feedback and high fidelity haptic feedback) simulating the impact between a virtual baseball bat and ball. We noticed some minor ef...

The contributions of vision and haptics to reaching and grasping

Directory of Open Access Journals (Sweden)

Kayla Dawn Stone

2015-09-01

Full Text Available This review aims to provide a comprehensive outlook on the sensory (visual and haptic contributions to reaching and grasping. The focus is on studies in developing children, normal and neuropsychological populations, and in sensory-deprived individuals. Studies have suggested a right-hand/left-hemisphere specialization for visually-guided grasping and a left-hand/right-hemisphere specialization for haptically-guided object recognition. This poses the interesting possibility that when vision is not available and grasping relies heavily on the haptic system, there is an advantage to use the left hand. We review the evidence for this possibility and dissect the unique contributions of the visual and haptic systems to grasping. We ultimately discuss how the integration of these two sensory modalities shape hand preference.

Self-Control of Haptic Assistance for Motor Learning: Influences of Frequency and Opinion of Utility

Science.gov (United States)

Williams, Camille K.; Tseung, Victrine; Carnahan, Heather

2017-01-01

Studies of self-controlled practice have shown benefits when learners controlled feedback schedule, use of assistive devices and task difficulty, with benefits attributed to information processing and motivational advantages of self-control. Although haptic assistance serves as feedback, aids task performance and modifies task difficulty, researchers have yet to explore whether self-control over haptic assistance could be beneficial for learning. We explored whether self-control of haptic assistance would be beneficial for learning a tracing task. Self-controlled participants selected practice blocks on which they would receive haptic assistance, while participants in a yoked group received haptic assistance on blocks determined by a matched self-controlled participant. We inferred learning from performance on retention tests without haptic assistance. From qualitative analysis of open-ended questions related to rationales for/experiences of the haptic assistance that was chosen/provided, themes emerged regarding participants’ views of the utility of haptic assistance for performance and learning. Results showed that learning was directly impacted by the frequency of haptic assistance for self-controlled participants only and view of haptic assistance. Furthermore, self-controlled participants’ views were significantly associated with their requested haptic assistance frequency. We discuss these findings as further support for the beneficial role of self-controlled practice for motor learning. PMID:29255438

Cognitive and tactile factors affecting human haptic performance in later life.

Directory of Open Access Journals (Sweden)

Tobias Kalisch

Full Text Available BACKGROUND: Vision and haptics are the key modalities by which humans perceive objects and interact with their environment in a target-oriented manner. Both modalities share higher-order neural resources and the mechanisms required for object exploration. Compared to vision, the understanding of haptic information processing is still rudimentary. Although it is known that haptic performance, similar to many other skills, decreases in old age, the underlying mechanisms are not clear. It is yet to be determined to what extent this decrease is related to the age-related loss of tactile acuity or cognitive capacity. METHODOLOGY/PRINCIPAL FINDINGS: We investigated the haptic performance of 81 older adults by means of a cross-modal object recognition test. Additionally, we assessed the subjects' tactile acuity with an apparatus-based two-point discrimination paradigm, and their cognitive performance by means of the non-verbal Raven-Standard-Progressive matrices test. As expected, there was a significant age-related decline in performance on all 3 tests. With the exception of tactile acuity, this decline was found to be more distinct in female subjects. Correlation analyses revealed a strong relationship between haptic and cognitive performance for all subjects. Tactile performance, on the contrary, was only significantly correlated with male subjects' haptic performance. CONCLUSIONS: Haptic object recognition is a demanding task in old age, especially when it comes to the exploration of complex, unfamiliar objects. Our data support a disproportionately higher impact of cognition on haptic performance as compared to the impact of tactile acuity. Our findings are in agreement with studies reporting an increase in co-variation between individual sensory performance and general cognitive functioning in old age.

Frictional Compliant Haptic Contact and Deformation of Soft Objects

Directory of Open Access Journals (Sweden)

Naci Zafer

2016-05-01

Full Text Available This paper is concerned with compliant haptic contact and deformation of soft objects. A human soft fingertip model is considered to act as the haptic interface and is brought into contact with and deforms a discrete surface. A nonlinear constitutive law is developed in predicting normal forces and, for the haptic display of surface texture, motions along the surface are also resisted at various rates by accounting for dynamic Lund-Grenoble (LuGre frictional forces. For the soft fingertip to apply forces over an area larger than a point, normal and frictional forces are distributed around the soft fingertip contact location on the deforming surface. The distribution is realized based on a kernel smoothing function and by a nonlinear spring-damper net around the contact point. Experiments conducted demonstrate the accuracy and effectiveness of our approach in real-time haptic rendering of a kidney surface. The resistive (interaction forces are applied at the user fingertip bone edge. A 3-DoF parallel robotic manipulator equipped with a constraint based controller is used for the implementation. By rendering forces both in lateral and normal directions, the designed haptic interface system allows the user to realistically feel both the geometrical and mechanical (nonlinear properties of the deforming kidney.

A Study of an Assistance SystemUsing a Haptic Interface

OpenAIRE

浅川, 貴史

2011-01-01

We make a proposal for a music baton system for visual handicapped persons. This system is constituted by an acceleration sensor. a radio module. and a haptic interface device. The acceleration sensor is built in the music baton grip and the data are transmitted by the radio module. A performer has a receiver with the haptic interface device. The receiver's CPU picks up rhythm from the data and vibrates the haptic interface device. This paper is described about an experiment of comparing the ...

Expanding the Scope of Instant Messaging with Bidirectional Haptic Communication

OpenAIRE

Kim, Youngjae; Hahn, Minsoo

2010-01-01

This work was conducted on the combination of two fields, i.e., haptic and social messaging. Haptic is one of the most attention-drawing fields and the biggest buzzwords among nextgeneration users. Haptic is being applied to conventional devices such as the cellular phone and even the door lock. Diverse forms of media such as blogs, social network services, and instant messengers are used to send and receive messages. That is mainly why we focus on the messaging experience, the most frequent ...

The haptic and the visual flash-lag effect and the role of flash characteristics.

Directory of Open Access Journals (Sweden)

Knut Drewing

Full Text Available When a short flash occurs in spatial alignment with a moving object, the moving object is seen ahead the stationary one. Similar to this visual "flash-lag effect" (FLE it has been recently observed for the haptic sense that participants judge a moving hand to be ahead a stationary hand when judged at the moment of a short vibration ("haptic flash" that is applied when the two hands are spatially aligned. We further investigated the haptic FLE. First, we compared participants' performance in two isosensory visual or haptic conditions, in which moving object and flash were presented only in a single modality (visual: sphere and short color change, haptic: hand and vibration, and two bisensory conditions, in which the moving object was presented in both modalities (hand aligned with visible sphere, but the flash was presented only visually or only haptically. The experiment aimed to disentangle contributions of the flash's and the objects' modalities to the FLEs in haptics versus vision. We observed a FLE when the flash was visually displayed, both when the moving object was visual and visuo-haptic. Because the position of a visual flash, but not of an analogue haptic flash, is misjudged relative to a same visuo-haptic moving object, the difference between visual and haptic conditions can be fully attributed to characteristics of the flash. The second experiment confirmed that a haptic FLE can be observed depending on flash characteristics: the FLE increases with decreasing intensity of the flash (slightly modulated by flash duration, which had been previously observed for vision. These findings underline the high relevance of flash characteristics in different senses, and thus fit well with the temporal-sampling framework, where the flash triggers a high-level, supra-modal process of position judgement, the time point of which further depends on the processing time of the flash.

Feeling form: the neural basis of haptic shape perception.

Science.gov (United States)

Yau, Jeffrey M; Kim, Sung Soo; Thakur, Pramodsingh H; Bensmaia, Sliman J

2016-02-01

The tactile perception of the shape of objects critically guides our ability to interact with them. In this review, we describe how shape information is processed as it ascends the somatosensory neuraxis of primates. At the somatosensory periphery, spatial form is represented in the spatial patterns of activation evoked across populations of mechanoreceptive afferents. In the cerebral cortex, neurons respond selectively to particular spatial features, like orientation and curvature. While feature selectivity of neurons in the earlier processing stages can be understood in terms of linear receptive field models, higher order somatosensory neurons exhibit nonlinear response properties that result in tuning for more complex geometrical features. In fact, tactile shape processing bears remarkable analogies to its visual counterpart and the two may rely on shared neural circuitry. Furthermore, one of the unique aspects of primate somatosensation is that it contains a deformable sensory sheet. Because the relative positions of cutaneous mechanoreceptors depend on the conformation of the hand, the haptic perception of three-dimensional objects requires the integration of cutaneous and proprioceptive signals, an integration that is observed throughout somatosensory cortex. Copyright © 2016 the American Physiological Society.

Telerobotic Haptic Exploration in Art Galleries and Museums for Individuals with Visual Impairments.

Science.gov (United States)

Park, Chung Hyuk; Ryu, Eun-Seok; Howard, Ayanna M

2015-01-01

This paper presents a haptic telepresence system that enables visually impaired users to explore locations with rich visual observation such as art galleries and museums by using a telepresence robot, a RGB-D sensor (color and depth camera), and a haptic interface. The recent improvement on RGB-D sensors has enabled real-time access to 3D spatial information in the form of point clouds. However, the real-time representation of this data in the form of tangible haptic experience has not been challenged enough, especially in the case of telepresence for individuals with visual impairments. Thus, the proposed system addresses the real-time haptic exploration of remote 3D information through video encoding and real-time 3D haptic rendering of the remote real-world environment. This paper investigates two scenarios in haptic telepresence, i.e., mobile navigation and object exploration in a remote environment. Participants with and without visual impairments participated in our experiments based on the two scenarios, and the system performance was validated. In conclusion, the proposed framework provides a new methodology of haptic telepresence for individuals with visual impairments by providing an enhanced interactive experience where they can remotely access public places (art galleries and museums) with the aid of haptic modality and robotic telepresence.

Haptic Data Processing for Teleoperation Systems: Prediction, Compression and Error Correction

OpenAIRE

Lee, Jae-young

2013-01-01

This thesis explores haptic data processing methods for teleoperation systems, including prediction, compression, and error correction. In the proposed haptic data prediction method, unreliable network conditions, such as time-varying delay and packet loss, are detected by a transport layer protocol. Given the information from the transport layer, a Bayesian approach is introduced to predict position and force data in haptic teleoperation systems. Stability of the proposed method within stoch...

Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments.

Directory of Open Access Journals (Sweden)

Min Li

Full Text Available This paper proposes a pseudo-haptic feedback method conveying simulated soft surface stiffness information through a visual interface. The method exploits a combination of two feedback techniques, namely visual feedback of soft surface deformation and control of the indenter avatar speed, to convey stiffness information of a simulated surface of a soft object in virtual environments. The proposed method was effective in distinguishing different sizes of virtual hard nodules integrated into the simulated soft bodies. To further improve the interactive experience, the approach was extended creating a multi-point pseudo-haptic feedback system. A comparison with regards to (a nodule detection sensitivity and (b elapsed time as performance indicators in hard nodule detection experiments to a tablet computer incorporating vibration feedback was conducted. The multi-point pseudo-haptic interaction is shown to be more time-efficient than the single-point pseudo-haptic interaction. It is noted that multi-point pseudo-haptic feedback performs similarly well when compared to a vibration-based feedback method based on both performance measures elapsed time and nodule detection sensitivity. This proves that the proposed method can be used to convey detailed haptic information for virtual environmental tasks, even subtle ones, using either a computer mouse or a pressure sensitive device as an input device. This pseudo-haptic feedback method provides an opportunity for low-cost simulation of objects with soft surfaces and hard inclusions, as, for example, occurring in ever more realistic video games with increasing emphasis on interaction with the physical environment and minimally invasive surgery in the form of soft tissue organs with embedded cancer nodules. Hence, the method can be used in many low-budget applications where haptic sensation is required, such as surgeon training or video games, either using desktop computers or portable devices, showing

Haptics in periodontics

Directory of Open Access Journals (Sweden)

Savita Abdulpur Mallikarjun

2014-01-01

Full Text Available Throughout history, education has evolved, and new teaching/learning methods have been developed. These methods have helped us come a long way in understanding the pathogenesis, diagnosis, and treatment of diseases of the oral cavity. However, there is still no one good way to render a student/clinician the tactile sense for detecting calculus/caries or placing the incisions or detecting the smoothness of a restoration or any treatment procedures before entering the clinics. In the education field, to improve the tactile sensation, the sense of touch and force-feedback can offer great improvements to the existing learning methods, thus enhancing the quality of education procedures. The concept of Haptics, which is extensively in use and indispensable in other fields like aviation, telecommunication etc., is now making its way into dentistry. Against this background, the following write-up intends to provide a glimpse of the coming wave of Haptics - A virtual reality system in dental education and discusses the strengths and weak points of this system.

Improved haptic interface for colonoscopy simulation.

Science.gov (United States)

Woo, Hyun Soo; Kim, Woo Seok; Ahn, Woojin; Lee, Doo Yong; Yi, Sun Young

2007-01-01

This paper presents an improved haptic interface of the KAIST-Ewha colonoscopy simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing enough workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors, and triggers computation to render accurate graphic images corresponding to the angle knob rotation. Tack switches are attached on the valve-actuation buttons of the colonoscope to simulate air-injection or suction, and the corresponding deformation of the colon.

Superior haptic-to-visual shape matching in autism spectrum disorders.

Science.gov (United States)

Nakano, Tamami; Kato, Nobumasa; Kitazawa, Shigeru

2012-04-01

A weak central coherence theory in autism spectrum disorder (ASD) proposes that a cognitive bias toward local processing in ASD derives from a weakness in integrating local elements into a coherent whole. Using this theory, we hypothesized that shape perception through active touch, which requires sequential integration of sensorimotor traces of exploratory finger movements into a shape representation, would be impaired in ASD. Contrary to our expectation, adults with ASD showed superior performance in a haptic-to-visual delayed shape-matching task compared to adults without ASD. Accuracy in discriminating haptic lengths or haptic orientations, which lies within the somatosensory modality, did not differ between adults with ASD and adults without ASD. Moreover, this superior ability in inter-modal haptic-to-visual shape matching was not explained by the score in a unimodal visuospatial rotation task. These results suggest that individuals with ASD are not impaired in integrating sensorimotor traces into a global visual shape and that their multimodal shape representations and haptic-to-visual information transfer are more accurate than those of individuals without ASD. Copyright © 2012 Elsevier Ltd. All rights reserved.

HSP v2: Haptic Signal Processing with Extensions for Physical Modeling

DEFF Research Database (Denmark)

Overholt, Daniel; Kontogeorgakopoulos, Alexandros; Berdahl, Edgar

2010-01-01

The Haptic Signal Processing (HSP) platform aims to enable musicians to easily design and perform with digital haptic musical instruments [1]. In this paper, we present some new objects introduced in version v2 for modeling of musical dynamical systems such as resonators and vibrating strings. To....... To our knowledge, this is the first time that these diverse physical modeling elements have all been made available for a modular, real-time haptics platform....

Haptic Glove Technology: Skill Development through Video Game Play

Science.gov (United States)

Bargerhuff, Mary Ellen; Cowan, Heidi; Oliveira, Francisco; Quek, Francis; Fang, Bing

2010-01-01

This article introduces a recently developed haptic glove system and describes how the participants used a video game that was purposely designed to train them in skills that are needed for the efficient use of the haptic glove. Assessed skills included speed, efficiency, embodied skill, and engagement. The findings and implications for future…

A Fabric-Based Approach for Wearable Haptics

Directory of Open Access Journals (Sweden)

Matteo Bianchi

2016-07-01

Full Text Available In recent years, wearable haptic systems (WHS have gained increasing attention as a novel and exciting paradigm for human–robot interaction (HRI. These systems can be worn by users, carried around, and integrated in their everyday lives, thus enabling a more natural manner to deliver tactile cues. At the same time, the design of these types of devices presents new issues: the challenge is the correct identification of design guidelines, with the two-fold goal of minimizing system encumbrance and increasing the effectiveness and naturalness of stimulus delivery. Fabrics can represent a viable solution to tackle these issues. They are specifically thought “to be worn”, and could be the key ingredient to develop wearable haptic interfaces conceived for a more natural HRI. In this paper, the author will review some examples of fabric-based WHS that can be applied to different body locations, and elicit different haptic perceptions for different application fields. Perspective and future developments of this approach will be discussed.

A Semi-automated Approach to Improve the Efficiency of Medical Imaging Segmentation for Haptic Rendering.

Science.gov (United States)

Banerjee, Pat; Hu, Mengqi; Kannan, Rahul; Krishnaswamy, Srinivasan

2017-08-01

The Sensimmer platform represents our ongoing research on simultaneous haptics and graphics rendering of 3D models. For simulation of medical and surgical procedures using Sensimmer, 3D models must be obtained from medical imaging data, such as magnetic resonance imaging (MRI) or computed tomography (CT). Image segmentation techniques are used to determine the anatomies of interest from the images. 3D models are obtained from segmentation and their triangle reduction is required for graphics and haptics rendering. This paper focuses on creating 3D models by automating the segmentation of CT images based on the pixel contrast for integrating the interface between Sensimmer and medical imaging devices, using the volumetric approach, Hough transform method, and manual centering method. Hence, automating the process has reduced the segmentation time by 56.35% while maintaining the same accuracy of the output at ±2 voxels.

The Hedonic Haptics Player: A Wearable Device to Experience Vibrotactile Compositions

OpenAIRE

Boer, Laurens; Vallgårda, Anna; Cahill, Ben

2017-01-01

The Hedonic Haptics player is a portable wearable device that plays back vibrotactile compositions. It consists of three domes each of which houses a vibration motor providing vibrotactile sensations to the wearer. The domes are connected to a control unit the size of a small Walkman. The Hedonic Haptics player can store up to ten different compositions made up of haptic signals varying in amplitude, waveform and length. We use these different compositions to explore the aesthetic potential o...

Haptic perception of wetness

NARCIS (Netherlands)

Bergmann Tiest, W.M.; Kosters, N.D.; Kappers, Astrid M.L.; Daanen, H.A.M.

2012-01-01

In daily life, people interact with textiles of different degrees of wetness, but little is known about the mechanics of wetness perception. This paper describes an experiment with six conditions regarding haptic discrimination of the wetness of fabrics. Three materials were used: cotton wool,

Enhanced operator perception through 3D vision and haptic feedback

Science.gov (United States)

Edmondson, Richard; Light, Kenneth; Bodenhamer, Andrew; Bosscher, Paul; Wilkinson, Loren

2012-06-01

Polaris Sensor Technologies (PST) has developed a stereo vision upgrade kit for TALON® robot systems comprised of a replacement gripper camera and a replacement mast zoom camera on the robot, and a replacement display in the Operator Control Unit (OCU). Harris Corporation has developed a haptic manipulation upgrade for TALON® robot systems comprised of a replacement arm and gripper and an OCU that provides haptic (force) feedback. PST and Harris have recently collaborated to integrate the 3D vision system with the haptic manipulation system. In multiple studies done at Fort Leonard Wood, Missouri it has been shown that 3D vision and haptics provide more intuitive perception of complicated scenery and improved robot arm control, allowing for improved mission performance and the potential for reduced time on target. This paper discusses the potential benefits of these enhancements to robotic systems used for the domestic homeland security mission.

Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.

Science.gov (United States)

Beyl, T; Nicolai, P; Mönnich, H; Raczkowksy, J; Wörn, H

2012-01-01

In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe how this feature is integrated in our robotic research platform OP:Sense. The proposed method allows the automatic transfer of segmented imaging data to the haptic renderer and therefore allows enriching the haptic feedback with virtual fixtures based on imaging data. Anatomical structures are extracted from pre-operative generated medical images or virtual walls are defined by the surgeon inside the imaging data. Combining real forces with virtual fixtures can guide the surgeon to the regions of interest as well as helps to prevent the risk of damage to critical structures inside the patient. We believe that the combination of medical imaging and telemanipulation is a crucial step for the next generation of MIRS-systems.

Effects of 3D virtual haptics force feedback on brand personality perception: the mediating role of physical presence in advergames.

Science.gov (United States)

Jin, Seung-A Annie

2010-06-01

This study gauged the effects of force feedback in the Novint Falcon haptics system on the sensory and cognitive dimensions of a virtual test-driving experience. First, in order to explore the effects of tactile stimuli with force feedback on users' sensory experience, feelings of physical presence (the extent to which virtual physical objects are experienced as actual physical objects) were measured after participants used the haptics interface. Second, to evaluate the effects of force feedback on the cognitive dimension of consumers' virtual experience, this study investigated brand personality perception. The experiment utilized the Novint Falcon haptics controller to induce immersive virtual test-driving through tactile stimuli. The author designed a two-group (haptics stimuli with force feedback versus no force feedback) comparison experiment (N = 238) by manipulating the level of force feedback. Users in the force feedback condition were exposed to tactile stimuli involving various force feedback effects (e.g., terrain effects, acceleration, and lateral forces) while test-driving a rally car. In contrast, users in the control condition test-drove the rally car using the Novint Falcon but were not given any force feedback. Results of ANOVAs indicated that (a) users exposed to force feedback felt stronger physical presence than those in the no force feedback condition, and (b) users exposed to haptics stimuli with force feedback perceived the brand personality of the car to be more rugged than those in the control condition. Managerial implications of the study for product trial in the business world are discussed.

Preliminary Experiment Combining Virtual Reality Haptic Shoes and Audio Synthesis

DEFF Research Database (Denmark)

Nordahl, Rolf; Berrezag, Amir; Dimitrov, Smilen

2010-01-01

We describe a system that provides combined auditory and haptic sensations to simulate walking on different grounds. It uses a physical model that drives haptic transducers embedded in sandals and headphones. The model represents walking interactions with solid surfaces that can creak, or be cove...

Haptic virtual reality for skill acquisition in endodontics.

Science.gov (United States)

Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Gajananan, Kugamoorthy

2010-01-01

Haptic virtual reality (VR) has revolutionized the skill acquisition in dentistry. The strength of the haptic VR system is that it can automatically record the outcome and associated kinematic data on how each step of the task is performed, which are not available in the conventional skill training environments. The aim of this study was to assess skill acquisition in endodontics and to identify process and outcome variables for the quantification of proficiency. Twenty novices engaged in the experimental study that involved practicing the access opening task with the haptic VR system. Process (speed, force utilization, and bimanual coordination) and outcome variables were determined for assessing skill performance. These values were compared before and after training. Significant improvements were observed through training in all variables. A unique force used pattern and bimanual coordination were observed in each step of the access opening in the posttraining session. The novices also performed the tasks considerably faster with greater outcome within the first two to three training sessions. The study objectively showed that the novices could learn to perform access opening tasks faster and with more consistency, better bimanual dexterity, and better force utilization. The variables examined showed great promise as objective indicators of proficiency and skill acquisition in haptic VR.

Haptic feedback for enhancing realism of walking simulations.

Science.gov (United States)

Turchet, Luca; Burelli, Paolo; Serafin, Stefania

2013-01-01

In this paper, we describe several experiments whose goal is to evaluate the role of plantar vibrotactile feedback in enhancing the realism of walking experiences in multimodal virtual environments. To achieve this goal we built an interactive and a noninteractive multimodal feedback system. While during the use of the interactive system subjects physically walked, during the use of the noninteractive system the locomotion was simulated while subjects were sitting on a chair. In both the configurations subjects were exposed to auditory and audio-visual stimuli presented with and without the haptic feedback. Results of the experiments provide a clear preference toward the simulations enhanced with haptic feedback showing that the haptic channel can lead to more realistic experiences in both interactive and noninteractive configurations. The majority of subjects clearly appreciated the added feedback. However, some subjects found the added feedback unpleasant. This might be due, on one hand, to the limits of the haptic simulation and, on the other hand, to the different individual desire to be involved in the simulations. Our findings can be applied to the context of physical navigation in multimodal virtual environments as well as to enhance the user experience of watching a movie or playing a video game.

Rapid processing of haptic cues for postural control in blind subjects.

Science.gov (United States)

Schieppati, Marco; Schmid, Monica; Sozzi, Stefania

2014-07-01

Vision and touch rapidly lead to postural stabilization in sighted subjects. Is touch-induced stabilization more rapid in blind than in sighted subjects, owing to cross-modal reorganization of function in the blind? We estimated the time-period elapsing from onset of availability of haptic support to onset of lateral stabilization in a group of early- and late-onset blinds. Eleven blind (age 39.4 years±11.7SD) and eleven sighted subjects (age 30.0 years±10.0SD), standing eyes closed with feet in tandem position, touched a pad with their index finger and withdrew the finger from the pad in sequence. EMG of postural muscles and displacement of centre of foot pressure were recorded. The task was repeated fifty times, to allow statistical evaluation of the latency of EMG and sway changes following the haptic shift. Steady-state sway (with or without contact with pad, no haptic shift) did not differ between blind and sighted. On adding the haptic stimulus, EMG and sway diminished in both groups, but at an earlier latency (by about 0.5 s) in the blinds (p blinds. When the haptic stimulus was withdrawn, both groups increased EMG and sway at equally short delays. Blinds are rapid in implementing adaptive postural modifications when granted an external haptic reference. Fast processing of the stabilizing haptic spatial-orientation cues may be favoured by cortical plasticity in blinds. These findings add new information to the field of sensory-guided dynamic control of equilibrium in man. Copyright © 2013 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

Effect of haptic assistance on learning vehicle reverse parking skills.

Science.gov (United States)

Hirokawa, Masakazu; Uesugi, Naohisa; Furugori, Satoru; Kitagawa, Tomoko; Suzuki, Kenji

2014-01-01

Compared to conventional visual- and auditory-based assisted driving technologies, haptic modality promises to be more effective and less disturbing assistance to the driver. However, in most previous studies, haptic assistance systems were evaluated from safety and stability viewpoints. Moreover, the effect of haptic assistance on human driving behavior has not been sufficiently discussed. In this paper, we introduce an assisted driving method based on haptic assistance for driver training in reverse parking, which is considered as an uncertain factor in conventional assisted driving systems. The proposed system assists the driver by applying a torque on the steering wheel to guide proper and well-timed steering. To design the appropriate assistance method, we conducted a measurement experiment to determine the qualitative reverse parking driver characteristics. Based on the determined characteristics, we propose a haptic assistance calculation method that utilizes the receding horizon control algorithm. For a simulation environment to assess the proposed assistance method, we also developed a scaled car simulator comprising a 1/10 scaled robot car and an omnidirectional camera. We used the scaled car simulator to conduct comparative experiments on subjects, and observed that the driving skills of the assisted subjects were significantly better than those of the control subjects.

Haptic perception of wetness

NARCIS (Netherlands)

Bergmann Tiest, W.M.; Kosters, N.D.; Daanen, H.A.M.; Kappers, A.M.L.

2011-01-01

The sensation of wetness is well-known but barely investigated. There are no specific wetness receptors in the skin, but the sensation is mediated by temperature and pressure perception. In our study, we have measured discrimination thresholds for the haptic perception of wetness of three di erent

Haptic perception of wetness

NARCIS (Netherlands)

Bergmann Tiest, W.M.; Dolfine Kosters, N.; Daanen, h.a.m.; Kappers, A.M.L.

2012-01-01

In daily life, people interact with textiles of different degrees of wetness, but little is known about the me-chanics of wetness perception. This paper describes an experiment with six conditions regarding haptic dis-crimination of the wetness of fabrics. Three materials were used: cotton wool,

Haptic device development based on electro static force of cellulose electro active paper

Science.gov (United States)

Yun, Gyu-young; Kim, Sang-Youn; Jang, Sang-Dong; Kim, Dong-Gu; Kim, Jaehwan

2011-04-01

Haptic is one of well-considered device which is suitable for demanding virtual reality applications such as medical equipment, mobile devices, the online marketing and so on. Nowadays, many of concepts for haptic devices have been suggested to meet the demand of industries. Cellulose has received much attention as an emerging smart material, named as electro-active paper (EAPap). The EAPap is attractive for mobile haptic devices due to its unique characteristics in terms of low actuation power, suitability for thin devices and transparency. In this paper, we suggest a new concept of haptic actuator with the use of cellulose EAPap. Its performance is evaluated depending on various actuation conditions. As a result, cellulose electrostatic force actuator shows a large output displacement and fast response, which is suitable for mobile haptic devices.

Haptic and Visual feedback in 3D Audio Mixing Interfaces

DEFF Research Database (Denmark)

Gelineck, Steven; Overholt, Daniel

2015-01-01

This paper describes the implementation and informal evaluation of a user interface that explores haptic feedback for 3D audio mixing. The implementation compares different approaches using either the LEAP Motion for mid-air hand gesture control, or the Novint Falcon for active haptic feed- back...

Real-time dual-band haptic music player for mobile devices.

Science.gov (United States)

Hwang, Inwook; Lee, Hyeseon; Choi, Seungmoon

2013-01-01

We introduce a novel dual-band haptic music player for real-time simultaneous vibrotactile playback with music in mobile devices. Our haptic music player features a new miniature dual-mode actuator that can produce vibrations consisting of two principal frequencies and a real-time vibration generation algorithm that can extract vibration commands from a music file for dual-band playback (bass and treble). The algorithm uses a "haptic equalizer" and provides plausible sound-to-touch modality conversion based on human perceptual data. In addition, we present a user study carried out to evaluate the subjective performance (precision, harmony, fun, and preference) of the haptic music player, in comparison with the current practice of bass-band-only vibrotactile playback via a single-frequency voice-coil actuator. The evaluation results indicated that the new dual-band playback outperforms the bass-only rendering, also providing several insights for further improvements. The developed system and experimental findings have implications for improving the multimedia experience with mobile devices.

Haptic Paddle Enhancements and a Formal Assessment of Student Learning in System Dynamics

Science.gov (United States)

Gorlewicz, Jenna L.; Kratchman, Louis B.; Webster, Robert J., III

2014-01-01

The haptic paddle is a force-feedback joystick used at several universities in teaching System Dynamics, a core mechanical engineering undergraduate course where students learn to model dynamic systems in several domains. A second goal of the haptic paddle is to increase the accessibility of robotics and haptics by providing a low-cost device for…

Haptic Cues for Balance: Use of a Cane Provides Immediate Body Stabilization

Directory of Open Access Journals (Sweden)

Stefania Sozzi

2017-12-01

Full Text Available Haptic cues are important for balance. Knowledge of the temporal features of their effect may be crucial for the design of neural prostheses. Touching a stable surface with a fingertip reduces body sway in standing subjects eyes closed (EC, and removal of haptic cue reinstates a large sway pattern. Changes in sway occur rapidly on changing haptic conditions. Here, we describe the effects and time-course of stabilization produced by a haptic cue derived from a walking cane. We intended to confirm that cane use reduces body sway, to evaluate the effect of vision on stabilization by a cane, and to estimate the delay of the changes in body sway after addition and withdrawal of haptic input. Seventeen healthy young subjects stood in tandem position on a force platform, with eyes closed or open (EO. They gently lowered the cane onto and lifted it from a second force platform. Sixty trials per direction of haptic shift (Touch → NoTouch, T-NT; NoTouch → Touch, NT-T and visual condition (EC-EO were acquired. Traces of Center of foot Pressure (CoP and the force exerted by cane were filtered, rectified, and averaged. The position in space of a reflective marker positioned on the cane tip was also acquired by an optoelectronic device. Cross-correlation (CC analysis was performed between traces of cane tip and CoP displacement. Latencies of changes in CoP oscillation in the frontal plane EC following the T-NT and NT-T haptic shift were statistically estimated. The CoP oscillations were larger in EC than EO under both T and NT (p < 0.001 and larger during NT than T conditions (p < 0.001. Haptic-induced effect under EC (Romberg quotient NT/T ~ 1.2 was less effective than that of vision under NT condition (EC/EO ~ 1.5 (p < 0.001. With EO cane had little effect. Cane displacement lagged CoP displacement under both EC and EO. Latencies to changes in CoP oscillations were longer after addition (NT-T, about 1.6 s than withdrawal (T-NT, about 0.9 s of haptic

Assignment about providing of substitute haptic interface for visually disabled persons

OpenAIRE

浅川, 貴史

2013-01-01

[Abstract] This paper is described about an assignment of haptic interface. We have made a proposal for a music baton system for visually disabled persons. The system is constituted by an acceleration sensor, a radio module, and a haptic interface device. We have carried out an experiment of comparing the visual and the haptic interface. The assignments are declared by the results that are rise-time of a motor and pre-motion. In the paper, we make a proposal for new method of the voltage cont...

A new visual feedback-based magnetorheological haptic master for robot-assisted minimally invasive surgery

Science.gov (United States)

Choi, Seung-Hyun; Kim, Soomin; Kim, Pyunghwa; Park, Jinhyuk; Choi, Seung-Bok

2015-06-01

In this study, we developed a novel four-degrees-of-freedom haptic master using controllable magnetorheological (MR) fluid. We also integrated the haptic master with a vision device with image processing for robot-assisted minimally invasive surgery (RMIS). The proposed master can be used in RMIS as a haptic interface to provide the surgeon with a sense of touch by using both kinetic and kinesthetic information. The slave robot, which is manipulated with a proportional-integrative-derivative controller, uses a force sensor to obtain the desired forces from tissue contact, and these desired repulsive forces are then embodied through the MR haptic master. To verify the effectiveness of the haptic master, the desired force and actual force are compared in the time domain. In addition, a visual feedback system is implemented in the RMIS experiment to distinguish between the tumor and organ more clearly and provide better visibility to the operator. The hue-saturation-value color space is adopted for the image processing since it is often more intuitive than other color spaces. The image processing and haptic feedback are realized on surgery performance. In this work, tumor-cutting experiments are conducted under four different operating conditions: haptic feedback on, haptic feedback off, image processing on, and image processing off. The experimental realization shows that the performance index, which is a function of pixels, is different in the four operating conditions.

Contribution to the modeling and the identification of haptic interfaces

International Nuclear Information System (INIS)

Janot, A.

2007-12-01

This thesis focuses on the modeling and the identification of haptic interfaces using cable drive. An haptic interface is a force feedback device, which enables its user to interact with a virtual world or a remote environment explored by a slave system. It aims at the matching between the forces and displacements given by the user and those applied to virtual world. Usually, haptic interfaces make use of a mechanical actuated structure whose distal link is equipped with a handle. When manipulating this handle to interact with explored world, the user feels the apparent mass, compliance and friction of the interface. This distortion introduced between the operator and the virtual world must be modeled and identified to enhance the design of the interface and develop appropriate control laws. The first approach has been to adapt the modeling and identification methods of rigid and localized flexibilities robots to haptic interfaces. The identification technique makes use of the inverse dynamic model and the linear least squares with the measurements of joint torques and positions. This approach is validated on a single degree of freedom and a three degree of freedom haptic devices. A new identification method needing only torque data is proposed. It is based on a closed loop simulation using the direct dynamic model. The optimal parameters minimize the 2 norms of the error between the actual torque and the simulated torque assuming the same control law and the same tracking trajectory. This non linear least squares problem dramatically is simplified using the inverse model to calculate the simulated torque. This method is validated on the single degree of freedom haptic device and the SCARA robot. (author)

Haptic identification of objects and their depictions.

Science.gov (United States)

Klatzky, R L; Loomis, J M; Lederman, S J; Wake, H; Fujita, N

1993-08-01

Haptic identification of real objects is superior to that of raised two-dimensional (2-D) depictions. Three explanations of real-object superiority were investigated: contribution of material information, contribution of 3-D shape and size, and greater potential for integration across the fingers. In Experiment 1, subjects, while wearing gloves that gently attenuated material information, haptically identified real objects that provided reduced cues to compliance, mass, and part motion. The gloves permitted exploration with free hand movement, a single outstretched finger, or five outstretched fingers. Performance decreased over these three conditions but was superior to identification of pictures of the same objects in all cases, indicating the contribution of 3-D structure and integration across the fingers. Picture performance was also better with five fingers than with one. In Experiment 2, the subjects wore open-fingered gloves, which provided them with material information. Consequently, the effect of type of exploration was substantially reduced but not eliminated. Material compensates somewhat for limited access to object structure but is not the primary basis for haptic object identification.

Audio effects on haptics perception during drilling simulation

Directory of Open Access Journals (Sweden)

Yair Valbuena

2017-06-01

Full Text Available Virtual reality has provided immersion and interactions through computer generated environments attempting to reproduce real life experiences through sensorial stimuli. Realism can be achieved through multimodal interactions which can enhance the user’s presence within the computer generated world. The most notorious advances in virtual reality can be seen in computer graphics visuals, where photorealism is the norm thriving to overcome the uncanny valley. Other advances have followed related to sound, haptics, and in a lesser manner smell and taste feedback. Currently, virtual reality systems (multimodal immersion and interactions through visual-haptic-sound are being massively used in entertainment (e.g., cinema, video games, art, and in non-entertainment scenarios (e.g., social inclusion, educational, training, therapy, and tourism. Moreover, the cost reduction of virtual reality technologies has resulted in the availability at a consumer-level of various haptic, headsets, and motion tracking devices. Current consumer-level devices offer low-fidelity experiences due to the properties of the sensors, displays, and other electro-mechanical devices, that may not be suitable for high-precision or realistic experiences requiring dexterity. However, research has been conducted on how toovercome or compensate the lack of high fidelity to provide an engaging user experience using storytelling, multimodal interactions and gaming elements. Our work focuses on analyzing the possible effects of auditory perception on haptic feedback within a drilling scenario. Drilling involves multimodal interactions and it is a task with multiple applications in medicine, crafting, and construction. We compare two drilling scenarios were two groups of participants had to drill through wood while listening to contextual and non-contextual audios. We gathered their perception using a survey after the task completion. From the results, we believe that sound does

The mere exposure effect in the domain of haptics.

Science.gov (United States)

Jakesch, Martina; Carbon, Claus-Christian

2012-01-01

Zajonc showed that the attitude towards stimuli that one had been previously exposed to is more positive than towards novel stimuli. This mere exposure effect (MEE) has been tested extensively using various visual stimuli. Research on the MEE is sparse, however, for other sensory modalities. We used objects of two material categories (stone and wood) and two complexity levels (simple and complex) to test the influence of exposure frequency (F0 = novel stimuli, F2 = stimuli exposed twice, F10 = stimuli exposed ten times) under two sensory modalities (haptics only and haptics & vision). Effects of exposure frequency were found for high complex stimuli with significantly increasing liking from F0 to F2 and F10, but only for the stone category. Analysis of "Need for Touch" data showed the MEE in participants with high need for touch, which suggests different sensitivity or saturation levels of MEE. This different sensitivity or saturation levels might also reflect the effects of expertise on the haptic evaluation of objects. It seems that haptic and cross-modal MEEs are influenced by factors similar to those in the visual domain indicating a common cognitive basis.

The mere exposure effect in the domain of haptics.

Directory of Open Access Journals (Sweden)

Martina Jakesch

Full Text Available Zajonc showed that the attitude towards stimuli that one had been previously exposed to is more positive than towards novel stimuli. This mere exposure effect (MEE has been tested extensively using various visual stimuli. Research on the MEE is sparse, however, for other sensory modalities.We used objects of two material categories (stone and wood and two complexity levels (simple and complex to test the influence of exposure frequency (F0 = novel stimuli, F2 = stimuli exposed twice, F10 = stimuli exposed ten times under two sensory modalities (haptics only and haptics & vision. Effects of exposure frequency were found for high complex stimuli with significantly increasing liking from F0 to F2 and F10, but only for the stone category. Analysis of "Need for Touch" data showed the MEE in participants with high need for touch, which suggests different sensitivity or saturation levels of MEE.This different sensitivity or saturation levels might also reflect the effects of expertise on the haptic evaluation of objects. It seems that haptic and cross-modal MEEs are influenced by factors similar to those in the visual domain indicating a common cognitive basis.

Dynamics modeling for parallel haptic interfaces with force sensing and control.

Science.gov (United States)

Bernstein, Nicholas; Lawrence, Dale; Pao, Lucy

2013-01-01

Closed-loop force control can be used on haptic interfaces (HIs) to mitigate the effects of mechanism dynamics. A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. The details of a "squaring down" process are also discussed, showing how to obtain reduced degree-of-freedom models from the general six degree-of-freedom dynamics formulation.

A "virtually minimal" visuo-haptic training of attention in severe traumatic brain injury.

Science.gov (United States)

Dvorkin, Assaf Y; Ramaiya, Milan; Larson, Eric B; Zollman, Felise S; Hsu, Nancy; Pacini, Sonia; Shah, Amit; Patton, James L

2013-08-09

Although common during the early stages of recovery from severe traumatic brain injury (TBI), attention deficits have been scarcely investigated. Encouraging evidence suggests beneficial effects of attention training in more chronic and higher functioning patients. Interactive technology may provide new opportunities for rehabilitation in inpatients who are earlier in their recovery. We designed a "virtually minimal" approach using robot-rendered haptics in a virtual environment to train severely injured inpatients in the early stages of recovery to sustain attention to a visuo-motor task. 21 inpatients with severe TBI completed repetitive reaching toward targets that were both seen and felt. Patients were tested over two consecutive days, experiencing 3 conditions (no haptic feedback, a break-through force, and haptic nudge) in 12 successive, 4-minute blocks. The interactive visuo-haptic environments were well-tolerated and engaging. Patients typically remained attentive to the task. However, patients exhibited attention loss both before (prolonged initiation) and during (pauses during motion) a movement. Compared to no haptic feedback, patients benefited from haptic nudge cues but not break-through forces. As training progressed, patients increased the number of targets acquired and spontaneously improved from one day to the next. Interactive visuo-haptic environments could be beneficial for attention training for severe TBI patients in the early stages of recovery and warrants further and more prolonged clinical testing.

Codimension two branes and distributional curvature

International Nuclear Information System (INIS)

Traschen, Jennie

2009-01-01

In general relativity, there is a well-developed formalism for working with the approximation that a gravitational source is concentrated on a shell, or codimension one surface. In contrast, there are obstacles to concentrating sources on surfaces that have a higher codimension, for example, a string in a spacetime with a dimension greater than or equal to four. Here it is shown that, by giving up some of the generality of the codimension one case, curvature can be concentrated on submanifolds that have codimension two. A class of metrics is identified such that (1) the scalar curvature and Ricci densities exist as distributions with support on a codimension two submanifold, and (2) using the Einstein equation, the distributional curvature corresponds to a concentrated stress-energy with equation of state p = -ρ, where p is the isotropic pressure tangent to the submanifold, and ρ is the energy density. This is the appropriate stress-energy to describe a self-gravitating brane that is governed by an area action, or a braneworld deSitter cosmology. The possibility of having a different equation of state arise from a wider class of metrics is discussed.

Haptic feedback designs in teleoperation systems for minimal invasive surgery

NARCIS (Netherlands)

Font, I.; Weiland, S.; Franken, M.; Steinbuch, M.; Rovers, A.F.

2004-01-01

One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and

Haptic rendering for simulation of fine manipulation

CERN Document Server

Wang, Dangxiao; Zhang, Yuru

2014-01-01

This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in man

A new visual feedback-based magnetorheological haptic master for robot-assisted minimally invasive surgery

International Nuclear Information System (INIS)

Choi, Seung-Hyun; Kim, Soomin; Kim, Pyunghwa; Park, Jinhyuk; Choi, Seung-Bok

2015-01-01

In this study, we developed a novel four-degrees-of-freedom haptic master using controllable magnetorheological (MR) fluid. We also integrated the haptic master with a vision device with image processing for robot-assisted minimally invasive surgery (RMIS). The proposed master can be used in RMIS as a haptic interface to provide the surgeon with a sense of touch by using both kinetic and kinesthetic information. The slave robot, which is manipulated with a proportional-integrative-derivative controller, uses a force sensor to obtain the desired forces from tissue contact, and these desired repulsive forces are then embodied through the MR haptic master. To verify the effectiveness of the haptic master, the desired force and actual force are compared in the time domain. In addition, a visual feedback system is implemented in the RMIS experiment to distinguish between the tumor and organ more clearly and provide better visibility to the operator. The hue-saturation-value color space is adopted for the image processing since it is often more intuitive than other color spaces. The image processing and haptic feedback are realized on surgery performance. In this work, tumor-cutting experiments are conducted under four different operating conditions: haptic feedback on, haptic feedback off, image processing on, and image processing off. The experimental realization shows that the performance index, which is a function of pixels, is different in the four operating conditions. (paper)

A non-differential elastomer curvature sensor for softer-than-skin electronics

International Nuclear Information System (INIS)

Majidi, C; Kramer, R; Wood, R J

2011-01-01

We extend soft lithography microfabrication and design methods to introduce curvature sensors that are elastically soft (modulus 0.1–1 MPa) and stretchable (100–1000% strain). In contrast to existing curvature sensors that measure differential strain, sensors in this new class measure curvature directly and allow for arbitrary gauge factor and film thickness. Moreover, each sensor is composed entirely of a soft elastomer (PDMS (polydimethylsiloxane) or Ecoflex ® ) and conductive liquid (eutectic gallium indium, eGaIn) and thus remains functional even when stretched to several times its natural length. The electrical resistance in the embedded eGaIn microchannel is measured as a function of the bending curvature for a variety of sensor designs. In all cases, the experimental measurements are in reasonable agreement with closed-form algebraic approximations derived from elastic plate theory and Ohm's law

A non-differential elastomer curvature sensor for softer-than-skin electronics

Science.gov (United States)

Majidi, C.; Kramer, R.; Wood, R. J.

2011-10-01

We extend soft lithography microfabrication and design methods to introduce curvature sensors that are elastically soft (modulus 0.1-1 MPa) and stretchable (100-1000% strain). In contrast to existing curvature sensors that measure differential strain, sensors in this new class measure curvature directly and allow for arbitrary gauge factor and film thickness. Moreover, each sensor is composed entirely of a soft elastomer (PDMS (polydimethylsiloxane) or Ecoflex®) and conductive liquid (eutectic gallium indium, eGaIn) and thus remains functional even when stretched to several times its natural length. The electrical resistance in the embedded eGaIn microchannel is measured as a function of the bending curvature for a variety of sensor designs. In all cases, the experimental measurements are in reasonable agreement with closed-form algebraic approximations derived from elastic plate theory and Ohm's law.

Performance evaluation of a robot-assisted catheter operating system with haptic feedback.

Science.gov (United States)

Song, Yu; Guo, Shuxiang; Yin, Xuanchun; Zhang, Linshuai; Hirata, Hideyuki; Ishihara, Hidenori; Tamiya, Takashi

2018-06-20

In this paper, a novel robot-assisted catheter operating system (RCOS) has been proposed as a method to reduce physical stress and X-ray exposure time to physicians during endovascular procedures. The unique design of this system allows the physician to apply conventional bedside catheterization skills (advance, retreat and rotate) to an input catheter, which is placed at the master side to control another patient catheter placed at the slave side. For this purpose, a magnetorheological (MR) fluids-based master haptic interface has been developed to measure the axial and radial motions of an input catheter, as well as to provide the haptic feedback to the physician during the operation. In order to achieve a quick response of the haptic force in the master haptic interface, a hall sensor-based closed-loop control strategy is employed. In slave side, a catheter manipulator is presented to deliver the patient catheter, according to position commands received from the master haptic interface. The contact forces between the patient catheter and blood vessel system can be measured by designed force sensor unit of catheter manipulator. Four levels of haptic force are provided to make the operator aware of the resistance encountered by the patient catheter during the insertion procedure. The catheter manipulator was evaluated for precision positioning. The time lag from the sensed motion to replicated motion is tested. To verify the efficacy of the proposed haptic feedback method, the evaluation experiments in vitro are carried out. The results demonstrate that the proposed system has the ability to enable decreasing the contact forces between the catheter and vasculature.

Haptic Feedback in Motor Hand Virtual Therapy Increases Precision and Generates Less Mental Workload

Directory of Open Access Journals (Sweden)

Cristina Ramírez-Fernández

2015-10-01

Full Text Available In this work we show that haptic feedback in upper limb motor therapy improves performance and generates a lower mental workload. To demonstrate this, two groups of participants (healthy adults and elders with hand motor problems used a low-cost haptic device (Novint Falcon and a non-robotic device (Leap Motion Controller. Participants conducted the same rehabilitation task by using a non-immersive virtual environment. Results show significant differences for all participants regarding precision on the use of the haptic feedback device. Additionally, participants in the older adult group demonstrated a lower mental workload while using the haptic device (Novint Falcon. Finally, qualitative results show that participants preferred to conduct their therapy exercises by using the haptic device, as they found it more useful, easier to use and easier to learn

Design of a New 4-DOF Haptic Master Featuring Magnetorheological Fluid

Directory of Open Access Journals (Sweden)

Byung-Keun Song

2014-08-01

Full Text Available This work presents a novel 4-degree-of-freedom (4-DOF haptic master using magnetorheological (MR fluid which is applicable to a robot-assisted minimally invasive surgery (RMIS system. By using MR fluid, the proposed haptic device can easily generate bidirectional repulsive torque along the directions of the required motions. The proposed master consists of two actuators: an MR bidirectional clutch associated with a planetary gear system and an MR clutch with a bevel gear system. After demonstrating the configuration, the torque models of MR actuators are mathematically derived based on the field-dependent Bingham model. An optimal design that accounts for spatial-limitation and the desired torque constraint is then undertaken. An optimization procedure based on finite element analysis is proposed to determine optimal geometric dimensions. Based on the design procedure, MR haptic master with the optimal parameters has been manufactured. In order to demonstrate the practical feasibility of the proposed haptic master, the field-dependent generating repulsive force is measured. In addition, a proportional-integral-derivative (PID controller is empirically implemented to accomplish the desired torque trajectories. It has been shown that the proposed haptic master can track the desired torque trajectory without a significant error.

Operator dynamics for stability condition in haptic and teleoperation system: A survey.

Science.gov (United States)

Li, Hongbing; Zhang, Lei; Kawashima, Kenji

2018-04-01

Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems. Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams. The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey. Copyright © 2018 John Wiley & Sons, Ltd.

Vision-Based Haptic Feedback for Remote Micromanipulation in-SEM Environment

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Bolopion, Aude; Dahmen, Christian; Stolle, Christian; Haliyo, Sinan; Régnier, Stéphane; Fatikow, Sergej

2012-07-01

This article presents an intuitive environment for remote micromanipulation composed of both haptic feedback and virtual reconstruction of the scene. To enable nonexpert users to perform complex teleoperated micromanipulation tasks, it is of utmost importance to provide them with information about the 3-D relative positions of the objects and the tools. Haptic feedback is an intuitive way to transmit such information. Since position sensors are not available at this scale, visual feedback is used to derive information about the scene. In this work, three different techniques are implemented, evaluated, and compared to derive the object positions from scanning electron microscope images. The modified correlation matching with generated template algorithm is accurate and provides reliable detection of objects. To track the tool, a marker-based approach is chosen since fast detection is required for stable haptic feedback. Information derived from these algorithms is used to propose an intuitive remote manipulation system that enables users situated in geographically distant sites to benefit from specific equipments, such as SEMs. Stability of the haptic feedback is ensured by the minimization of the delays, the computational efficiency of vision algorithms, and the proper tuning of the haptic coupling. Virtual guides are proposed to avoid any involuntary collisions between the tool and the objects. This approach is validated by a teleoperation involving melamine microspheres with a diameter of less than 2 μ m between Paris, France and Oldenburg, Germany.

Haptic shared control improves hot cell remote handling despite controller inaccuracies

NARCIS (Netherlands)

van Oosterhout, J.; Abbink, D. A.; Koning, J. F.; Boessenkool, H.; Wildenbeest, J. G. W.; Heemskerk, C. J. M.

2013-01-01

A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested

Comparison of grey matter volume and thickness for analysing cortical changes in chronic schizophrenia: a matter of surface area, grey/white matter intensity contrast, and curvature.

Science.gov (United States)

Kong, Li; Herold, Christina J; Zöllner, Frank; Salat, David H; Lässer, Marc M; Schmid, Lena A; Fellhauer, Iven; Thomann, Philipp A; Essig, Marco; Schad, Lothar R; Erickson, Kirk I; Schröder, Johannes

2015-02-28

Grey matter volume and cortical thickness are the two most widely used measures for detecting grey matter morphometric changes in various diseases such as schizophrenia. However, these two measures only share partial overlapping regions in identifying morphometric changes. Few studies have investigated the contributions of the potential factors to the differences of grey matter volume and cortical thickness. To investigate this question, 3T magnetic resonance images from 22 patients with schizophrenia and 20 well-matched healthy controls were chosen for analyses. Grey matter volume and cortical thickness were measured by VBM and Freesurfer. Grey matter volume results were then rendered onto the surface template of Freesurfer to compare the differences from cortical thickness in anatomical locations. Discrepancy regions of the grey matter volume and thickness where grey matter volume significantly decreased but without corresponding evidence of cortical thinning involved the rostral middle frontal, precentral, lateral occipital and superior frontal gyri. Subsequent region-of-interest analysis demonstrated that changes in surface area, grey/white matter intensity contrast and curvature accounted for the discrepancies. Our results suggest that the differences between grey matter volume and thickness could be jointly driven by surface area, grey/white matter intensity contrast and curvature. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Awareness Becomes Necessary Between Adaptive Pattern Coding of Open and Closed Curvatures

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Sweeny, Timothy D.; Grabowecky, Marcia; Suzuki, Satoru

2012-01-01

Visual pattern processing becomes increasingly complex along the ventral pathway, from the low-level coding of local orientation in the primary visual cortex to the high-level coding of face identity in temporal visual areas. Previous research using pattern aftereffects as a psychophysical tool to measure activation of adaptive feature coding has suggested that awareness is relatively unimportant for the coding of orientation, but awareness is crucial for the coding of face identity. We investigated where along the ventral visual pathway awareness becomes crucial for pattern coding. Monoptic masking, which interferes with neural spiking activity in low-level processing while preserving awareness of the adaptor, eliminated open-curvature aftereffects but preserved closed-curvature aftereffects. In contrast, dichoptic masking, which spares spiking activity in low-level processing while wiping out awareness, preserved open-curvature aftereffects but eliminated closed-curvature aftereffects. This double dissociation suggests that adaptive coding of open and closed curvatures straddles the divide between weakly and strongly awareness-dependent pattern coding. PMID:21690314

Training haptic stiffness discrimination: time course of learning with or without visual information and knowledge of results.

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Teodorescu, Kinneret; Bouchigny, Sylvain; Korman, Maria

2013-08-01

In this study, we explored the time course of haptic stiffness discrimination learning and how it was affected by two experimental factors, the addition of visual information and/or knowledge of results (KR) during training. Stiffness perception may integrate both haptic and visual modalities. However, in many tasks, the visual field is typically occluded, forcing stiffness perception to be dependent exclusively on haptic information. No studies to date addressed the time course of haptic stiffness perceptual learning. Using a virtual environment (VE) haptic interface and a two-alternative forced-choice discrimination task, the haptic stiffness discrimination ability of 48 participants was tested across 2 days. Each day included two haptic test blocks separated by a training block Additional visual information and/or KR were manipulated between participants during training blocks. Practice repetitions alone induced significant improvement in haptic stiffness discrimination. Between days, accuracy was slightly improved, but decision time performance was deteriorated. The addition of visual information and/or KR had only temporary effects on decision time, without affecting the time course of haptic discrimination learning. Learning in haptic stiffness discrimination appears to evolve through at least two distinctive phases: A single training session resulted in both immediate and latent learning. This learning was not affected by the training manipulations inspected. Training skills in VE in spaced sessions can be beneficial for tasks in which haptic perception is critical, such as surgery procedures, when the visual field is occluded. However, training protocols for such tasks should account for low impact of multisensory information and KR.

Sensorimotor Interactions in the Haptic Perception of Virtual Objects

Science.gov (United States)

1997-01-01

the human user. 2 Compared to our understanding of vision and audition , our knowledge of the human haptic perception is very limited. Many basic...modalities such as vision and audition on haptic perception of viscosity or mass, for example. 116 Some preliminary work has already been done in this...string[3]; *posx="x" *forf="f’ *velv="v" * acca ="a" trial[64]; resp[64]; /* random number */ /* trial number */ /* index */ /* array holding stim

Obstacle Crossing Differences Between Blind and Blindfolded Subjects After Haptic Exploration

NARCIS (Netherlands)

Forner-Cordero, A.; Garcia, V.D.; Rodrigues, S.T.; Duysens, J.

2016-01-01

Little is known about the ability of blind people to cross obstacles after they have explored haptically their size and position. Long-term absence of vision may affect spatial cognition in the blind while their extensive experience with the use of haptic information for guidance may lead to

A “virtually minimal” visuo-haptic training of attention in severe traumatic brain injury

Science.gov (United States)

2013-01-01

Background Although common during the early stages of recovery from severe traumatic brain injury (TBI), attention deficits have been scarcely investigated. Encouraging evidence suggests beneficial effects of attention training in more chronic and higher functioning patients. Interactive technology may provide new opportunities for rehabilitation in inpatients who are earlier in their recovery. Methods We designed a “virtually minimal” approach using robot-rendered haptics in a virtual environment to train severely injured inpatients in the early stages of recovery to sustain attention to a visuo-motor task. 21 inpatients with severe TBI completed repetitive reaching toward targets that were both seen and felt. Patients were tested over two consecutive days, experiencing 3 conditions (no haptic feedback, a break-through force, and haptic nudge) in 12 successive, 4-minute blocks. Results The interactive visuo-haptic environments were well-tolerated and engaging. Patients typically remained attentive to the task. However, patients exhibited attention loss both before (prolonged initiation) and during (pauses during motion) a movement. Compared to no haptic feedback, patients benefited from haptic nudge cues but not break-through forces. As training progressed, patients increased the number of targets acquired and spontaneously improved from one day to the next. Conclusions Interactive visuo-haptic environments could be beneficial for attention training for severe TBI patients in the early stages of recovery and warrants further and more prolonged clinical testing. PMID:23938101

HAPTIC LOCATION IN PSEUDOPHAKIC EYES AND NONINFECTIOUS POSTOPERATIVE INFLAMMATION- A PROSPECTIVE STUDY

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Vinod Kumar Baranwal

2017-01-01

Full Text Available BACKGROUND Postoperative noninfectious inflammation after cataract surgery, which can be persistent, remains an undesirable consequence despite many advances in surgical techniques. This ocular inflammation after cataract surgery presents ophthalmologists with a treatment dilemma. The aim of the study was to evaluate and correlate the IOL haptic location and the presence of noninfectious postoperative inflammation in pseudophakic eyes using Ultrasound Biomicroscopy (UBM. MATERIALS AND METHODS In this prospective study, 80 eyes of 80 cataract patients underwent SICS with 6 mm optic non-foldable PCIOL implantation. Post surgery, an examination protocol was followed wherein the patients were assessed by slit-lamp examination on day 1, 2, 7, 14 and 30 for flare and cells. A UBM examination was performed on day 30 for locating the IOL haptic position. Finally, the postoperative inflammation was correlated with IOL haptic position. RESULTS The results showed that IOL haptic position outside the capsular bag significantly increased the amount and duration of postoperative inflammation. CONCLUSION Haptic position outside the bag increases the incidence and duration of postoperative inflammation significantly. In patients undergoing SICS, the aim should be a large continuous curvilinear capsulorhexis within the bag implantation of IOL. UBM examination on day 30 after surgery to know position of IOL haptics outside the bag will be helpful in decreasing apprehension of operating surgeon and suggesting prolonged need of steroids in cases having more than expected postoperative inflammation.

Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid

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Oh Jong-Seok

2015-02-01

Full Text Available This work presents a torque measurement method of 3-degree-of-freedom (3-DOF haptic master featuring controllable electrorheological (ER fluid. In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot. Since accurate representation of organ feeling is essential for the success of the robot-assisted surgery, it is indispensable to develop a proper torque measurement method of 3-DOF ER haptic master. After describing the structural configuration of the haptic master, the torque models of ER spherical joint are mathematically derived based on the Bingham model of ER fluid. A new type of haptic device which has pitching, rolling, and yawing motions is then designed and manufactured using a spherical joint mechanism. Subsequently, the field-dependent parameters of the Bingham model are identified and generating repulsive torque according to applied electric field is measured. In addition, in order to verify the effectiveness of the proposed torque model, a comparative work between simulated and measured torques is undertaken.

The workload implications of haptic displays in multi-display environments such as the cockpit: Dual-task interference of within-sense haptic inputs (tactile/proprioceptive) and between-sense inputs (tactile/proprioceptive/auditory/visual)

OpenAIRE

Castle, H

2007-01-01

Visual workload demand within the cockpit is reaching saturation, whereas the haptic sense (proprioceptive and tactile sensation) is relatively untapped, despite studies suggesting the benefits of haptic displays. MRT suggests that inputs from haptic displays will not interfere with inputs from visual or auditory displays. MRT is based on the premise that multisensory integration occurs only after unisensory processing. However, recent neuroscientific findings suggest that t...

Development of visuo-haptic transfer for object recognition in typical preschool and school-aged children.

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Purpura, Giulia; Cioni, Giovanni; Tinelli, Francesca

2018-07-01

Object recognition is a long and complex adaptive process and its full maturation requires combination of many different sensory experiences as well as cognitive abilities to manipulate previous experiences in order to develop new percepts and subsequently to learn from the environment. It is well recognized that the transfer of visual and haptic information facilitates object recognition in adults, but less is known about development of this ability. In this study, we explored the developmental course of object recognition capacity in children using unimodal visual information, unimodal haptic information, and visuo-haptic information transfer in children from 4 years to 10 years and 11 months of age. Participants were tested through a clinical protocol, involving visual exploration of black-and-white photographs of common objects, haptic exploration of real objects, and visuo-haptic transfer of these two types of information. Results show an age-dependent development of object recognition abilities for visual, haptic, and visuo-haptic modalities. A significant effect of time on development of unimodal and crossmodal recognition skills was found. Moreover, our data suggest that multisensory processes for common object recognition are active at 4 years of age. They facilitate recognition of common objects, and, although not fully mature, are significant in adaptive behavior from the first years of age. The study of typical development of visuo-haptic processes in childhood is a starting point for future studies regarding object recognition in impaired populations.

Towards open-source, low-cost haptics for surgery simulation.

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Suwelack, Stefan; Sander, Christian; Schill, Julian; Serf, Manuel; Danz, Marcel; Asfour, Tamim; Burger, Wolfgang; Dillmann, Rüdiger; Speidel, Stefanie

2014-01-01

In minimally invasive surgery (MIS), virtual reality (VR) training systems have become a promising education tool. However, the adoption of these systems in research and clinical settings is still limited by the high costs of dedicated haptics hardware for MIS. In this paper, we present ongoing research towards an open-source, low-cost haptic interface for MIS simulation. We demonstrate the basic mechanical design of the device, the sensor setup as well as its software integration.

Haptic and Audio Interaction Design

DEFF Research Database (Denmark)

This book constitutes the refereed proceedings of the 5th International Workshop on Haptic and Audio Interaction Design, HAID 2010 held in Copenhagen, Denmark, in September 2010. The 21 revised full papers presented were carefully reviewed and selected for inclusion in the book. The papers are or...

Advanced Maintenance Simulation by Means of Hand-Based Haptic Interfaces

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Nappi, Michele; Paolino, Luca; Ricciardi, Stefano; Sebillo, Monica; Vitiello, Giuliana

Aerospace industry has been involved in virtual simulation for design and testing since the birth of virtual reality. Today this industry is showing a growing interest in the development of haptic-based maintenance training applications, which represent the most advanced way to simulate maintenance and repair tasks within a virtual environment by means of a visual-haptic approach. The goal is to allow the trainee to experiment the service procedures not only as a workflow reproduced at a visual level but also in terms of the kinaesthetic feedback involved with the manipulation of tools and components. This study, conducted in collaboration with aerospace industry specialists, is aimed to the development of an immersive virtual capable of immerging the trainees into a virtual environment where mechanics and technicians can perform maintenance simulation or training tasks by directly manipulating 3D virtual models of aircraft parts while perceiving force feedback through the haptic interface. The proposed system is based on ViRstperson, a virtual reality engine under development at the Italian Center for Aerospace Research (CIRA) to support engineering and technical activities such as design-time maintenance procedure validation, and maintenance training. This engine has been extended to support haptic-based interaction, enabling a more complete level of interaction, also in terms of impedance control, and thus fostering the development of haptic knowledge in the user. The user’s “sense of touch” within the immersive virtual environment is simulated through an Immersion CyberForce® hand-based force-feedback device. Preliminary testing of the proposed system seems encouraging.

Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation.

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Meli, Leonardo; Pacchierotti, Claudio; Prattichizzo, Domenico

2017-12-01

Haptic feedback has been proven to play a key role in enhancing the performance of teleoperated medical procedures. However, due to safety issues, commercially-available medical robots do not currently provide the clinician with haptic feedback. This work presents the experimental evaluation of a teleoperation system for robot-assisted medical procedures able to provide magnified haptic feedback to the clinician. Forces registered at the operating table are magnified and provided to the clinician through a 7-DoF haptic interface. The same interface is also used to control the motion of a 6-DoF slave robotic manipulator. The safety of the system is guaranteed by a time-domain passivity-based control algorithm. Two experiments were carried out on stiffness discrimination (during palpation and needle insertion) and one experiment on needle guidance. Our haptic-enabled teleoperation system improved the performance with respect to direct hand interaction of 80%, 306%, and 27% in stiffness discrimination through palpation, stiffness discrimination during needle insertion, and guidance, respectively. Copyright © 2017 John Wiley & Sons, Ltd.

Shifty: A Weight-Shifting Dynamic Passive Haptic Proxy to Enhance Object Perception in Virtual Reality.

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Zenner, Andre; Kruger, Antonio

2017-04-01

We define the concept of Dynamic Passive Haptic Feedback (DPHF) for virtual reality by introducing the weight-shifting physical DPHF proxy object Shifty. This concept combines actuators known from active haptics and physical proxies known from passive haptics to construct proxies that automatically adapt their passive haptic feedback. We describe the concept behind our ungrounded weight-shifting DPHF proxy Shifty and the implementation of our prototype. We then investigate how Shifty can, by automatically changing its internal weight distribution, enhance the user's perception of virtual objects interacted with in two experiments. In a first experiment, we show that Shifty can enhance the perception of virtual objects changing in shape, especially in length and thickness. Here, Shifty was shown to increase the user's fun and perceived realism significantly, compared to an equivalent passive haptic proxy. In a second experiment, Shifty is used to pick up virtual objects of different virtual weights. The results show that Shifty enhances the perception of weight and thus the perceived realism by adapting its kinesthetic feedback to the picked-up virtual object. In the same experiment, we additionally show that specific combinations of haptic, visual and auditory feedback during the pick-up interaction help to compensate for visual-haptic mismatch perceived during the shifting process.

Effects of kinesthetic haptic feedback on standing stability of young healthy subjects and stroke patients.

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Afzal, Muhammad Raheel; Byun, Ha-Young; Oh, Min-Kyun; Yoon, Jungwon

2015-03-13

Haptic control is a useful therapeutic option in rehabilitation featuring virtual reality interaction. As with visual and vibrotactile biofeedback, kinesthetic haptic feedback may assist in postural control, and can achieve balance control. Kinesthetic haptic feedback in terms of body sway can be delivered via a commercially available haptic device and can enhance the balance stability of both young healthy subjects and stroke patients. Our system features a waist-attached smartphone, software running on a computer (PC), and a dedicated Phantom Omni® device. Young healthy participants performed balance tasks after assumption of each of four distinct postures for 30 s (one foot on the ground; the Tandem Romberg stance; one foot on foam; and the Tandem Romberg stance on foam) with eyes closed. Patient eyes were not closed and assumption of the Romberg stance (only) was tested during a balance task 25 s in duration. An Android application running continuously on the smartphone sent mediolateral (ML) and anteroposterior (AP) tilt angles to a PC, which generated kinesthetic haptic feedback via Phantom Omni®. A total of 16 subjects, 8 of whom were young healthy and 8 of whom had suffered stroke, participated in the study. Post-experiment data analysis was performed using MATLAB®. Mean Velocity Displacement (MVD), Planar Deviation (PD), Mediolateral Trajectory (MLT) and Anteroposterior Trajectory (APT) parameters were analyzed to measure reduction in body sway. Our kinesthetic haptic feedback system was effective to reduce postural sway in young healthy subjects regardless of posture and the condition of the substrate (the ground) and to improve MVD and PD in stroke patients who assumed the Romberg stance. Analysis of Variance (ANOVA) revealed that kinesthetic haptic feedback significantly reduced body sway in both categories of subjects. Kinesthetic haptic feedback can be implemented using a commercial haptic device and a smartphone. Intuitive balance cues were

Development of a wearable haptic game interface

Directory of Open Access Journals (Sweden)

J. Foottit

2016-04-01

Full Text Available This paper outlines the ongoing development of a wearable haptic game interface, in this case for controlling a flight simulator. The device differs from many traditional haptic feedback implementations in that it combines vibrotactile feedback with gesture based input, thus becoming a two-way conduit between the user and the virtual environment. The device is intended to challenge what is considered an “interface” and sets out to purposefully blur the boundary between man and machine. This allows for a more immersive experience, and a user evaluation shows that the intuitive interface allows the user to become the aircraft that is controlled by the movements of the user's hand.

Absence of modulatory action on haptic height perception with musical pitch

Directory of Open Access Journals (Sweden)

Michele eGeronazzo

2015-09-01

Full Text Available Although acoustic frequency is not a spatial property of physical objects, in common language, pitch, i.e., the psychological correlated of frequency, is often labeled spatially (i.e., high in pitch or low in pitch. Pitch-height is known to modulate (and interact with the response of participants when they are asked to judge spatial properties of non-auditory stimuli (e.g., visual in a variety of behavioral tasks. In the current study we investigated whether the modulatory action of pitch-height extended to the haptic estimation of height of a virtual step.We implemented a HW/SW setup which is able to render virtual 3D objects (stair-steps haptically through a PHANTOM device, and to provide real-time continuous auditory feedback depending on the user interaction with the object. The haptic exploration was associated with a sinusoidal tone whose pitch varied as a function of the interaction point’s height within (i a narrower and (ii a wider pitch range, or (iii a random pitch variation acting as a control audio condition. Explorations were also performed with no sound (haptic only. Participants were instructed to explore the virtual step freely, and to communicate height estimation by opening their thumb and index finger to mimic the step riser height, or verbally by reporting the height in centimeters of the step riser. We analyzed the role of musical expertise by dividing participants into non musicians and musicians. Results showed no effects of musical pitch on high-realistic haptic feedback. Overall there is no difference between the two groups in the proposed multimodal conditions. Additionally, we observed a different haptic response distribution between musicians and non musicians when estimations of the auditory conditions are matched with estimations in the no sound condition.

Haptic Cues Used for Outdoor Wayfinding by Individuals with Visual Impairments

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Koutsoklenis, Athanasios; Papadopoulos, Konstantinos

2014-01-01

Introduction: The study presented here examines which haptic cues individuals with visual impairments use more frequently and determines which of these cues are deemed by these individuals to be the most important for way-finding in urban environments. It also investigates the ways in which these haptic cues are used by individuals with visual…

Ascending and Descending in Virtual Reality: Simple and Safe System Using Passive Haptics.

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Nagao, Ryohei; Matsumoto, Keigo; Narumi, Takuji; Tanikawa, Tomohiro; Hirose, Michitaka

2018-04-01

This paper presents a novel interactive system that provides users with virtual reality (VR) experiences, wherein users feel as if they are ascending/descending stairs through passive haptic feedback. The passive haptic stimuli are provided by small bumps under the feet of users; these stimuli are provided to represent the edges of the stairs in the virtual environment. The visual stimuli of the stairs and shoes, provided by head-mounted displays, evoke a visuo-haptic interaction that modifies a user's perception of the floor shape. Our system enables users to experience all types of stairs, such as half-turn and spiral stairs, in a VR setting. We conducted a preliminary user study and two experiments to evaluate the proposed technique. The preliminary user study investigated the effectiveness of the basic idea associated with the proposed technique for the case of a user ascending stairs. The results demonstrated that the passive haptic feedback produced by the small bumps enhanced the user's feeling of presence and sense of ascending. We subsequently performed an experiment to investigate an improved viewpoint manipulation method and the interaction of the manipulation and haptics for both the ascending and descending cases. The experimental results demonstrated that the participants had a feeling of presence and felt a steep stair gradient under the condition of haptic feedback and viewpoint manipulation based on the characteristics of actual stair walking data. However, these results also indicated that the proposed system may not be as effective in providing a sense of descending stairs without an optimization of the haptic stimuli. We then redesigned the shape of the small bumps, and evaluated the design in a second experiment. The results indicated that the best shape to present haptic stimuli is a right triangle cross section in both the ascending and descending cases. Although it is necessary to install small protrusions in the determined direction, by

The effect of haptic guidance and visual feedback on learning a complex tennis task.

Science.gov (United States)

Marchal-Crespo, Laura; van Raai, Mark; Rauter, Georg; Wolf, Peter; Riener, Robert

2013-11-01

While haptic guidance can improve ongoing performance of a motor task, several studies have found that it ultimately impairs motor learning. However, some recent studies suggest that the haptic demonstration of optimal timing, rather than movement magnitude, enhances learning in subjects trained with haptic guidance. Timing of an action plays a crucial role in the proper accomplishment of many motor skills, such as hitting a moving object (discrete timing task) or learning a velocity profile (time-critical tracking task). The aim of the present study is to evaluate which feedback conditions-visual or haptic guidance-optimize learning of the discrete and continuous elements of a timing task. The experiment consisted in performing a fast tennis forehand stroke in a virtual environment. A tendon-based parallel robot connected to the end of a racket was used to apply haptic guidance during training. In two different experiments, we evaluated which feedback condition was more adequate for learning: (1) a time-dependent discrete task-learning to start a tennis stroke and (2) a tracking task-learning to follow a velocity profile. The effect that the task difficulty and subject's initial skill level have on the selection of the optimal training condition was further evaluated. Results showed that the training condition that maximizes learning of the discrete time-dependent motor task depends on the subjects' initial skill level. Haptic guidance was especially suitable for less-skilled subjects and in especially difficult discrete tasks, while visual feedback seems to benefit more skilled subjects. Additionally, haptic guidance seemed to promote learning in a time-critical tracking task, while visual feedback tended to deteriorate the performance independently of the task difficulty and subjects' initial skill level. Haptic guidance outperformed visual feedback, although additional studies are needed to further analyze the effect of other types of feedback visualization on

Force control tasks with pure haptic feedback promote short-term focused attention.

Science.gov (United States)

Wang, Dangxiao; Zhang, Yuru; Yang, Xiaoxiao; Yang, Gaofeng; Yang, Yi

2014-01-01

Focused attention has great impact on our quality of life. Our learning, social skills and even happiness are closely intertwined with our capacity for focused attention. Attention promotion is replete with examples of training-induced increases in attention capability, most of which rely on visual and auditory stimulation. Pure haptic stimulation to increase attention capability is rarely found. We show that accurate force control tasks with pure haptic feedback enhance short-term focused attention. Participants were trained by a force control task in which information from visual and auditory channels was blocked, and only haptic feedback was provided. The trainees were asked to exert a target force within a pre-defined force tolerance for a specific duration. The tolerance was adaptively modified to different levels of difficulty to elicit full participant engagement. Three attention tests showed significant changes in different aspects of focused attention in participants who had been trained as compared with those who had not, thereby illustrating the role of haptic-based sensory-motor tasks in the promotion of short-term focused attention. The findings highlight the potential value of haptic stimuli in brain plasticity and serve as a new tool to extend existing computer games for cognitive enhancement.

A Study on Immersion and Presence of a Portable Hand Haptic System for Immersive Virtual Reality

OpenAIRE

Kim, Mingyu; Jeon, Changyu; Kim, Jinmo

2017-01-01

This paper proposes a portable hand haptic system using Leap Motion as a haptic interface that can be used in various virtual reality (VR) applications. The proposed hand haptic system was designed as an Arduino-based sensor architecture to enable a variety of tactile senses at low cost, and is also equipped with a portable wristband. As a haptic system designed for tactile feedback, the proposed system first identifies the left and right hands and then sends tactile senses (vibration and hea...

Skin-Inspired Haptic Memory Arrays with an Electrically Reconfigurable Architecture.

Science.gov (United States)

Zhu, Bowen; Wang, Hong; Liu, Yaqing; Qi, Dianpeng; Liu, Zhiyuan; Wang, Hua; Yu, Jiancan; Sherburne, Matthew; Wang, Zhaohui; Chen, Xiaodong

2016-02-24

Skin-inspired haptic-memory devices, which can retain pressure information after the removel of external pressure by virtue of the nonvolatile nature of the memory devices, are achieved. The rise of haptic-memory devices will allow for mimicry of human sensory memory, opening new avenues for the design of next-generation high-performance sensing devices and systems. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Haptic biofeedback for improving compliance with lower-extremity partial weight bearing.

Science.gov (United States)

Fu, Michael C; DeLuke, Levi; Buerba, Rafael A; Fan, Richard E; Zheng, Ying Jean; Leslie, Michael P; Baumgaertner, Michael R; Grauer, Jonathan N

2014-11-01

After lower-extremity orthopedic trauma and surgery, patients are often advised to restrict weight bearing on the affected limb. Conventional training methods are not effective at enabling patients to comply with recommendations for partial weight bearing. The current study assessed a novel method of using real-time haptic (vibratory/vibrotactile) biofeedback to improve compliance with instructions for partial weight bearing. Thirty healthy, asymptomatic participants were randomized into 1 of 3 groups: verbal instruction, bathroom scale training, and haptic biofeedback. Participants were instructed to restrict lower-extremity weight bearing in a walking boot with crutches to 25 lb, with an acceptable range of 15 to 35 lb. A custom weight bearing sensor and biofeedback system was attached to all participants, but only those in the haptic biofeedback group were given a vibrotactile signal if they exceeded the acceptable range. Weight bearing in all groups was measured with a separate validated commercial system. The verbal instruction group bore an average of 60.3±30.5 lb (mean±standard deviation). The bathroom scale group averaged 43.8±17.2 lb, whereas the haptic biofeedback group averaged 22.4±9.1 lb (Phaptic biofeedback group averaged 14.5±6.3% (Phaptic biofeedback to improve compliance with lower-extremity partial weight bearing, haptic biofeedback was superior to conventional physical therapy methods. Further studies in patients with clinical orthopedic trauma are warranted. Copyright 2014, SLACK Incorporated.

Topographic modelling of haptic properties of tissue products

International Nuclear Information System (INIS)

Rosen, B-G; Fall, A; Farbrot, A; Bergström, P; Rosen, S

2014-01-01

The way a product or material feels when touched, haptics, has been shown to be a property that plays an important role when consumers determine the quality of products For tissue products in constant touch with the skin, ''softness'' becomes a primary quality parameter. In the present work, the relationship between topography and the feeling of the surface has been investigated for commercial tissues with varying degree of texture from the low textured crepe tissue to the highly textured embossed- and air-dried tissue products. A trained sensory panel at was used to grade perceived haptic ''roughness''. The technique used to characterize the topography was Digital light projection (DLP) technique, By the use of multivariate statistics, strong correlations between perceived roughness and topography were found with predictability of above 90 percent even though highly textured products were included. Characterization was made using areal ISO 25178-2 topography parameters in combination with non-contacting topography measurement. The best prediction ability was obtained when combining haptic properties with the topography parameters auto-correlation length (Sal), peak material volume (Vmp), core roughness depth (Sk) and the maximum height of the surface (Sz)

Curvature effects on carbon nanomaterials: Exohedral versus endhohedral supercapacitors

Energy Technology Data Exchange (ETDEWEB)

Huang, J; Sumpter, B. G.; Meunier, V.; Yushin, G.; Portet, C.; Gogotsi, Y.

2011-01-31

Capacitive energy storage mechanisms in nanoporous carbon supercapacitors hinge on endohedral interactions in carbon materials with macro-, meso-, and micropores that have negative surface curvature. In this article, we show that because of the positive curvature found in zero-dimensional carbon onions or one-dimensional carbon nanotube arrays, exohedral interactions cause the normalized capacitance to increase with decreasing particle size or tube diameter, in sharp contrast to the behavior of nanoporous carbon materials. This finding is in good agreement with the trend of recent experimental data. Our analysis suggests that electrical energy storage can be improved by exploiting the highly curved surfaces of carbon nanotube arrays with diameters on the order of 1 nm.

Curvature effects in carbon nanomaterials: Exohedral versus endohedral supercapacitors

Energy Technology Data Exchange (ETDEWEB)

Huang, Jingsong [ORNL; Sumpter, Bobby G [ORNL; Meunier, Vincent [ORNL; Gogotsi, Yury G. [Drexel University; Yushin, Gleb [Georgia Institute of Technology; Portet, Cristelle [Drexel University

2010-01-01

Capacitive energy storage mechanisms in nanoporous carbon supercapacitors hinge on endohedral interactions in carbon materials with macro-, meso-, and micropores that have negative surface curvature. In this article, we show that because of the positive curvature found in zero-dimensional carbon onions or one-dimensional carbon nanotube arrays, exohedral interactions cause the normalized capacitance to increase with decreasing particle size or tube diameter, in sharp contrast to the behavior of nanoporous carbon materials. This finding is in good agreement with the trend of recent experimental data. Our analysis suggests that electrical energy storage can be improved by exploiting the highly curved surfaces of carbon nanotube arrays with diameters on the order of 1 nm.

Haptic shared control improves hot cell remote handling despite controller inaccuracies

International Nuclear Information System (INIS)

Oosterhout, J. van; Abbink, D.A.; Koning, J.F.; Boessenkool, H.; Wildenbeest, J.G.W.; Heemskerk, C.J.M.

2013-01-01

Highlights: Haptic shared control is generally based upon perfect environment information. A realistic implementation holds model errors with respect to the environment. Operators were aided with inaccurate guiding forces during a peg-in-hole task. The results showed that small guiding inaccuracies still aid the operator. -- Abstract: A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested such controllers with accurate knowledge of the environment (giving flawless guiding forces), while in a practical implementation guidance forces will sometimes be flawed due to inaccurate models or sensor information. This research investigated the effect of zero and small (7.5 mm) errors on task performance compared to normal (unguided) operation. In a human factors experiment subjects performed a three dimensional virtual reality peg-in-hole type task (30 mm diameter; 0.1 mm clearance), with and without potentially flawed haptic shared control. The results showed that the presence of guiding forces, despite of small guiding errors, still improved task performance with respect to unguided operations

Haptic shared control improves hot cell remote handling despite controller inaccuracies

Energy Technology Data Exchange (ETDEWEB)

Oosterhout, J. van, E-mail: J.vanOosterhout@differ.nl [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Abbink, D.A. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Boessenkool, H. [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Wildenbeest, J.G.W. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Heemskerk, C.J.M. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands)

2013-10-15

Highlights: Haptic shared control is generally based upon perfect environment information. A realistic implementation holds model errors with respect to the environment. Operators were aided with inaccurate guiding forces during a peg-in-hole task. The results showed that small guiding inaccuracies still aid the operator. -- Abstract: A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested such controllers with accurate knowledge of the environment (giving flawless guiding forces), while in a practical implementation guidance forces will sometimes be flawed due to inaccurate models or sensor information. This research investigated the effect of zero and small (7.5 mm) errors on task performance compared to normal (unguided) operation. In a human factors experiment subjects performed a three dimensional virtual reality peg-in-hole type task (30 mm diameter; 0.1 mm clearance), with and without potentially flawed haptic shared control. The results showed that the presence of guiding forces, despite of small guiding errors, still improved task performance with respect to unguided operations.

Feeling objects in Virtual Environments: Presence and Pseudo-Haptics in a Bowling Game

DEFF Research Database (Denmark)

Daniliauskaite, Kristina; Magnusdottir, Agusta; Bjørkå, Henrik Birke

2007-01-01

, by relying on visual cues, taking therefore advantage of sensory substitution (no haptic feedback device is actually present). The interdependency between presence and a pseudo-haptic feedback is investigated by building avirtual bowling game. Results indicate that there is a significant correlation between...

Human haptic perception is interrupted by explorative stops of milliseconds

Directory of Open Access Journals (Sweden)

Martin eGrunwald

2014-04-01

Full Text Available Introduction: The explorative scanning movements of the hands have been compared to those of the eyes. The visual process is known to be composed of alternating phases of saccadic eye movements and fixation pauses. Descriptive results suggest that during the haptic exploration of objects short movement pauses occur as well. The goal of the present study was to detect these explorative stops (ES during one-handed and two-handed haptic explorations of various objects and patterns, and to measure their duration. Additionally, the associations between the following variables were analyzed: a between mean exploration time and duration of ES, b between certain stimulus features and ES frequency, and c the duration of ES during the course of exploration. Methods: Five different experiments were used. The first two experiments were classical recognition tasks of unknown haptic stimuli (A and of common objects (B. In experiment C space-position information of angle legs had to be perceived and reproduced. For experiments D and E the PHANToM haptic device was used for the exploration of virtual (D and real (E sunken reliefs. Results: In each experiment we observed explorative stops of different average durations. For experiment A: 329.50 ms, experiment B: 67.47 ms, experiment C: 189.92 ms, experiment D: 186.17 ms and experiment E: 140.02 ms. Significant correlations were observed between exploration time and the duration of the ES. Also, ES occurred more frequently, but not exclusively, at defined stimulus features like corners, curves and the endpoints of lines. However, explorative stops do not occur every time a stimulus feature is explored. Conclusions: We assume that ES are a general aspect of human haptic exploration processes. We have tried to interpret the occurrence and duration of ES with respect to the Hypotheses-Rebuild-Model and the Limited Capacity Control System theory.

Command Recognition of Robot with Low Dimension Whole-Body Haptic Sensor

Science.gov (United States)

Ito, Tatsuya; Tsuji, Toshiaki

The authors have developed “haptic armor”, a whole-body haptic sensor that has an ability to estimate contact position. Although it is developed for safety assurance of robots in human environment, it can also be used as an interface. This paper proposes a command recognition method based on finger trace information. This paper also discusses some technical issues for improving recognition accuracy of this system.

Use of VR Technology and Passive Haptics for MANPADS Training System

Science.gov (United States)

2017-09-01

reach satisfactory technical performance like latency and frame rate, while generating the sensory stimuli needed for this type of training —visual...release. Distribution is unlimited. USE OF VR TECHNOLOGY AND PASSIVE HAPTICS FOR MANPADS TRAINING SYSTEM by Faisal Rashid September 2017...HAPTICS FOR MANPADS TRAINING SYSTEM 5. FUNDING NUMBERS 6. AUTHOR(S) Faisal Rashid 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Naval

Design of a 7-DOF haptic master using a magneto-rheological devices for robot surgery

Science.gov (United States)

Kang, Seok-Rae; Choi, Seung-Bok; Hwang, Yong-Hoon; Cha, Seung-Woo

2017-04-01

This paper presents a 7 degrees-of-freedom (7-DOF) haptic master which is applicable to the robot-assisted minimally invasive surgery (RMIS). By utilizing a controllable magneto-rheological (MR) fluid, the haptic master can provide force information to the surgeon during surgery. The proposed haptic master consists of three degrees motions of X, Y, Z and four degrees motions of the pitch, yaw, roll and grasping. All of them have force feedback capability. The proposed haptic master can generate the repulsive forces or torques by activating MR clutch and MR brake. Both MR clutch and MR brake are designed and manufactured with consideration of the size and output torque which is usable to the robotic surgery. A proportional-integral-derivative (PID) controller is then designed and implemented to achieve torque/force tracking trajectories. It is verified that the proposed haptic master can track well the desired torque and force occurred in the surgical place by controlling the input current applied to MR clutch and brake.

Immediate Memory for Haptically-Examined Braille Symbols by Blind and Sighted Subjects.

Science.gov (United States)

Newman, Slater E.; And Others

The paper reports on two experiments in Braille learning which compared blind and sighted subjects on the immediate recall of haptically-examined Braille symbols. In the first study, sighted subjects (N=64) haptically examined each of a set of Braille symbols with their preferred or nonpreferred hand and immediately recalled the symbol by drawing…

Curvature effect on nuclear 'pasta': Is it helpful for gyroid appearance?

International Nuclear Information System (INIS)

Nakazato, Ken'ichiro; Iida, Kei; Oyamatsu, Kazuhiro

2011-01-01

In supernova cores and neutron star crusts, nuclei are thought to deform to rodlike and slablike shapes, which are often called nuclear pasta. We study the equilibrium properties of the nuclear pasta by using a liquid-drop model with curvature corrections. It is confirmed that the curvature effect acts to lower the transition densities between different shapes. We also examine the gyroid structure, which was recently suggested as a different type of nuclear pasta by analogy with the polymer systems. The gyroid structure investigated in this paper is approximately formulated as an extension of the periodic minimal surface whose mean curvature vanishes. In contrast to our expectations, we find, from the present approximate formulation, that the curvature corrections act to slightly disfavor the appearance of the gyroid structure. By comparing the energy corrections in the gyroid phase and the hypothetical phases composed of d-dimensional spheres, where d is a general dimensionality, we show that the gyroid is unlikely to belong to a family of the generalized dimensional spheres.

Differential effects of non-informative vision and visual interference on haptic spatial processing

NARCIS (Netherlands)

Volcic, Robert; Van Rheede, Joram J.; Postma, Albert; Kappers, Astrid M L

The primary purpose of this study was to examine the effects of non-informative vision and visual interference upon haptic spatial processing, which supposedly derives from an interaction between an allocentric and egocentric reference frame. To this end, a haptic parallelity task served as baseline

Improved Haptic Linear Lines for Better Movement Accuracy in Upper Limb Rehabilitation

Directory of Open Access Journals (Sweden)

Joan De Boeck

2012-01-01

Full Text Available Force feedback has proven to be beneficial in the domain of robot-assisted rehabilitation. According to the patients' personal needs, the generated forces may either be used to assist, support, or oppose their movements. In our current research project, we focus onto the upper limb training for MS (multiple sclerosis and CVA (cerebrovascular accident patients, in which a basic building block to implement many rehabilitation exercises was found. This building block is a haptic linear path: a second-order continuous path, defined by a list of points in space. Earlier, different attempts have been investigated to realize haptic linear paths. In order to have a good training quality, it is important that the haptic simulation is continuous up to the second derivative while the patient is enforced to follow the path tightly, even when low or no guiding forces are provided. In this paper, we describe our best solution to these haptic linear paths, discuss the weaknesses found in practice, and propose and validate an improvement.

Ambient visual information confers a context-specific, long-term benefit on memory for haptic scenes.

Science.gov (United States)

Pasqualotto, Achille; Finucane, Ciara M; Newell, Fiona N

2013-09-01

We investigated the effects of indirect, ambient visual information on haptic spatial memory. Using touch only, participants first learned an array of objects arranged in a scene and were subsequently tested on their recognition of that scene which was always hidden from view. During haptic scene exploration, participants could either see the surrounding room or were blindfolded. We found a benefit in haptic memory performance only when ambient visual information was available in the early stages of the task but not when participants were initially blindfolded. Specifically, when ambient visual information was available a benefit on performance was found in a subsequent block of trials during which the participant was blindfolded (Experiment 1), and persisted over a delay of one week (Experiment 2). However, we found that the benefit for ambient visual information did not transfer to a novel environment (Experiment 3). In Experiment 4 we further investigated the nature of the visual information that improved haptic memory and found that geometric information about a surrounding (virtual) room rather than isolated object landmarks, facilitated haptic scene memory. Our results suggest that vision improves haptic memory for scenes by providing an environment-centred, allocentric reference frame for representing object location through touch. Copyright © 2013 Elsevier B.V. All rights reserved.

Study of Electric Music Baton using Haptic Interface for Assistance of Visually Disabled Persons

OpenAIRE

浅川, 貴史

2012-01-01

[Abstract] We have made a proposal for a music baton system for visual disabled persons. The system is constituted by an acceleration sensor, a radio module, and a haptic interface device. When a conductor moves the baton, Players are able to acknowledge the action using the haptic interface device. We have carried out an experiment of comparing the visual and the haptic interface. The result declared that a pre-motion is important for the visual interface. In the paper, we make a proposal fo...

A Three-Axis Force Sensor for Dual Finger Haptic Interfaces

OpenAIRE

Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

2012-01-01

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force an...

Enhanced visuo-haptic integration for the non-dominant hand.

Science.gov (United States)

Yalachkov, Yavor; Kaiser, Jochen; Doehrmann, Oliver; Naumer, Marcus J

2015-07-21

Visuo-haptic integration contributes essentially to object shape recognition. Although there has been a considerable advance in elucidating the neural underpinnings of multisensory perception, it is still unclear whether seeing an object and exploring it with the dominant hand elicits the same brain response as compared to the non-dominant hand. Using fMRI to measure brain activation in right-handed participants, we found that for both left- and right-hand stimulation the left lateral occipital complex (LOC) and anterior cerebellum (aCER) were involved in visuo-haptic integration of familiar objects. These two brain regions were then further investigated in another study, where unfamiliar, novel objects were presented to a different group of right-handers. Here the left LOC and aCER were more strongly activated by bimodal than unimodal stimuli only when the left but not the right hand was used. A direct comparison indicated that the multisensory gain of the fMRI activation was significantly higher for the left than the right hand. These findings are in line with the principle of "inverse effectiveness", implying that processing of bimodally presented stimuli is particularly enhanced when the unimodal stimuli are weak. This applies also when right-handed subjects see and simultaneously touch unfamiliar objects with their non-dominant left hand. Thus, the fMRI signal in the left LOC and aCER induced by visuo-haptic stimulation is dependent on which hand was employed for haptic exploration. Copyright © 2015 Elsevier B.V. All rights reserved.

The curvature coordinate system

DEFF Research Database (Denmark)

Almegaard, Henrik

2007-01-01

The paper describes a concept for a curvature coordinate system on regular curved surfaces from which faceted surfaces with plane quadrangular facets can be designed. The lines of curvature are used as parametric lines for the curvature coordinate system on the surface. A new conjugate set of lin...

Feasibility Study of Haptic Display for Rotation Tasks of Wrist Work

OpenAIRE

曽根, 順治; 岩井, 秀樹; 山田, 勝実; 陳, 軍; 徳山, 喜政; 今野, 晃市; Sone, Junji; Iwai, Hideki; Yamada, Katsumi; Chen, Jun; Tokuyama, Yoshimasa; Konno, Kouichi

2011-01-01

We have developed a haptic display for rotational tasks that involve functions of the human wrist. We represent the torque using a motor and a brake. Reference torque curves are obtained by the measuring torque required for each actual task using a torque sensor. The brake represents the stop condition. We have confirmed the effectiveness of the display by comparing the actual tasks with the haptic display experiment.

‘Haptic interventions as visual anthropology’

DEFF Research Database (Denmark)

Kirstein Høgel, Arine

2017-01-01

This vignette arose in the course of a practice-led research project using “haptic interventions” to investigate contemporary consumption of cultural pasts and cultural difference. The vignette presents reworkings of unused and newly digitised archival material shot in the Persian Gulf in the 1950s...

Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle.

Science.gov (United States)

Elayaperumal, Santhi; Bae, Jung Hwa; Daniel, Bruce L; Cutkosky, Mark R

2014-09-01

This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024).

Design and Calibration of a New 6 DOF Haptic Device

Directory of Open Access Journals (Sweden)

Huanhuan Qin

2015-12-01

Full Text Available For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed.

A three-axis force sensor for dual finger haptic interfaces.

Science.gov (United States)

Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

2012-10-10

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.

Design and Calibration of a New 6 DOF Haptic Device

Science.gov (United States)

Qin, Huanhuan; Song, Aiguo; Liu, Yuqing; Jiang, Guohua; Zhou, Bohe

2015-01-01

For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed. PMID:26690449

A Three-Axis Force Sensor for Dual Finger Haptic Interfaces

Directory of Open Access Journals (Sweden)

Fabio Salsedo

2012-10-01

Full Text Available In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.

Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master

Science.gov (United States)

Hwang, Yong-Hoon; Cha, Seung-Woo; Kang, Seok-Rae; Choi, Seung-Bok

2017-04-01

In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.

Identification of virtual grounds using virtual reality haptic shoes and sound synthesis

DEFF Research Database (Denmark)

Serafin, Stefania; Turchet, Luca; Nordahl, Rolf

2010-01-01

We describe a system which simulates in real-time the auditory and haptic sensation of walking on different surfaces. The system is based on physical models, that drive both the haptic and audio synthesizers, and a pair of shoes enhanced with sensors and actuators. In a discrimination experiment,...

Effects of visual information regarding allocentric processing in haptic parallelity matching.

Science.gov (United States)

Van Mier, Hanneke I

2013-10-01

Research has revealed that haptic perception of parallelity deviates from physical reality. Large and systematic deviations have been found in haptic parallelity matching most likely due to the influence of the hand-centered egocentric reference frame. Providing information that increases the influence of allocentric processing has been shown to improve performance on haptic matching. In this study allocentric processing was stimulated by providing informative vision in haptic matching tasks that were performed using hand- and arm-centered reference frames. Twenty blindfolded participants (ten men, ten women) explored the orientation of a reference bar with the non-dominant hand and subsequently matched (task HP) or mirrored (task HM) its orientation on a test bar with the dominant hand. Visual information was provided by means of informative vision with participants having full view of the test bar, while the reference bar was blocked from their view (task VHP). To decrease the egocentric bias of the hands, participants also performed a visual haptic parallelity drawing task (task VHPD) using an arm-centered reference frame, by drawing the orientation of the reference bar. In all tasks, the distance between and orientation of the bars were manipulated. A significant effect of task was found; performance improved from task HP, to VHP to VHPD, and HM. Significant effects of distance were found in the first three tasks, whereas orientation and gender effects were only significant in tasks HP and VHP. The results showed that stimulating allocentric processing by means of informative vision and reducing the egocentric bias by using an arm-centered reference frame led to most accurate performance on parallelity matching. © 2013 Elsevier B.V. All rights reserved.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

Science.gov (United States)

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

2017-01-01

Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

Science.gov (United States)

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

2017-01-01

Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

Stable haptic feedback based on a Dynamic Vision Sensor for Microrobotics.

OpenAIRE

Bolopion , Aude; Ni , Zhenjiang; Agnus , Joël; Benosman , Ryad; Régnier , Stéphane

2012-01-01

International audience; This work presents a stable vision based haptic feedback for micromanipulation using both an asynchronous Address Event Representation (AER) silicon retina and a conventional frame-based camera. At this scale, most of the grippers used to manipulate objects lack of force sensing. High frequency vision detection thus provides a sound solution to get information about the position of the object and the tool to provide virtual haptic guides. Artificial retinas present hig...

On Gauss-Bonnet Curvatures

Directory of Open Access Journals (Sweden)

Mohammed Larbi Labbi

2007-12-01

Full Text Available The $(2k$-th Gauss-Bonnet curvature is a generalization to higher dimensions of the $(2k$-dimensional Gauss-Bonnet integrand, it coincides with the usual scalar curvature for $k = 1$. The Gauss-Bonnet curvatures are used in theoretical physics to describe gravity in higher dimensional space times where they are known as the Lagrangian of Lovelock gravity, Gauss-Bonnet Gravity and Lanczos gravity. In this paper we present various aspects of these curvature invariants and review their variational properties. In particular, we discuss natural generalizations of the Yamabe problem, Einstein metrics and minimal submanifolds.

Implementing quantum Ricci curvature

Science.gov (United States)

Klitgaard, N.; Loll, R.

2018-05-01

Quantum Ricci curvature has been introduced recently as a new, geometric observable characterizing the curvature properties of metric spaces, without the need for a smooth structure. Besides coordinate invariance, its key features are scalability, computability, and robustness. We demonstrate that these properties continue to hold in the context of nonperturbative quantum gravity, by evaluating the quantum Ricci curvature numerically in two-dimensional Euclidean quantum gravity, defined in terms of dynamical triangulations. Despite the well-known, highly nonclassical properties of the underlying quantum geometry, its Ricci curvature can be matched well to that of a five-dimensional round sphere.

Distal root curvatures in mandibular molars: analysis using digital panoramic X-rays.

Science.gov (United States)

Fuentes, R; Farfán, C; Astete, N; Navarro, P; Arias, A

2018-01-01

The aim of this study was to describe the degree of curvature in distal roots in the first and second permanent mandibular molars in a Chilean patient sample. A cross-sectional descriptive study was conducted in which digital panoramic X-rays were analysed. Examinations of patients under 18 years, with signs of distortion or alteration in the contrast or the presence of pathologies that affected visualisation of the roots and pulp-chamber floor of the teeth to be analysed were excluded. Using the AutoCad software, an angle was drawn to represent the curve of the root in its different thirds, drawing lines inside the root canal from the pulp-chamber floor to the dental apex. Using the classic definition of dilaceration (root curvature > 90°), its prevalence was established. 412 teeth and roots were analysed, finding a dilaceration prevalence of 0.73% (n = 3). 84.72% of the roots presented some type of curvature. The middle third had the highest percentage of curvatures and the greatest average of angular curvature, whereas the cervical third was the straightest. No significant differences were found between the degree of curvature and the gender of the subjects, except for the apical third of tooth 3.6. The analysis of curvature by root third offers to the clinician a better perspective of the directional change of the roots and does not limit it to just the presence of curves in the apical third. The report of the angular degree of the curvatures, in addition to the prevalence of dilacerations, informs to the clinicians about the likelihood of finding difficulties when treating root canals. (Folia Morphol 2018; 77, 1: 131-137).

Learning of Temporal and Spatial Movement Aspects: A Comparison of Four Types of Haptic Control and Concurrent Visual Feedback.

Science.gov (United States)

Rauter, Georg; Sigrist, Roland; Riener, Robert; Wolf, Peter

2015-01-01

In literature, the effectiveness of haptics for motor learning is controversially discussed. Haptics is believed to be effective for motor learning in general; however, different types of haptic control enhance different movement aspects. Thus, in dependence on the movement aspects of interest, one type of haptic control may be effective whereas another one is not. Therefore, in the current work, it was investigated if and how different types of haptic controllers affect learning of spatial and temporal movement aspects. In particular, haptic controllers that enforce active participation of the participants were expected to improve spatial aspects. Only haptic controllers that provide feedback about the task's velocity profile were expected to improve temporal aspects. In a study on learning a complex trunk-arm rowing task, the effect of training with four different types of haptic control was investigated: position control, path control, adaptive path control, and reactive path control. A fifth group (control) trained with visual concurrent augmented feedback. As hypothesized, the position controller was most effective for learning of temporal movement aspects, while the path controller was most effective in teaching spatial movement aspects of the rowing task. Visual feedback was also effective for learning temporal and spatial movement aspects.

Communicating Emotion through Haptic Design: A Study Using Physical Keys

DEFF Research Database (Denmark)

Kjellerup, Marie Kjær; Larsen, Anne Cathrine; Maier, Anja

2014-01-01

This paper explores how designers may communicate with the users of their products through haptic design. More specifically, how tactile properties of materials evoke emotions such as satisfaction, joy, or disgust. A research through design approach has been followed; mood- and material boards...... and prototypes of four ‘haptically enhanced’ (physical) keys were created. Types of keys selected include home, bicycle, hobby, and basement. An experiment with ten participants was conducted, using word association and a software to elicit product emotions (PrEmo). Results show a mapping between the designer...

Lectures on mean curvature flows

CERN Document Server

Zhu, Xi-Ping

2002-01-01

"Mean curvature flow" is a term that is used to describe the evolution of a hypersurface whose normal velocity is given by the mean curvature. In the simplest case of a convex closed curve on the plane, the properties of the mean curvature flow are described by Gage-Hamilton's theorem. This theorem states that under the mean curvature flow, the curve collapses to a point, and if the flow is diluted so that the enclosed area equals \\pi, the curve tends to the unit circle. In this book, the author gives a comprehensive account of fundamental results on singularities and the asymptotic behavior of mean curvature flows in higher dimensions. Among other topics, he considers in detail Huisken's theorem (a generalization of Gage-Hamilton's theorem to higher dimension), evolution of non-convex curves and hypersurfaces, and the classification of singularities of the mean curvature flow. Because of the importance of the mean curvature flow and its numerous applications in differential geometry and partial differential ...

A novel shape-changing haptic table-top display

Science.gov (United States)

Wang, Jiabin; Zhao, Lu; Liu, Yue; Wang, Yongtian; Cai, Yi

2018-01-01

A shape-changing table-top display with haptic feedback allows its users to perceive 3D visual and texture displays interactively. Since few existing devices are developed as accurate displays with regulatory haptic feedback, a novel attentive and immersive shape changing mechanical interface (SCMI) consisting of image processing unit and transformation unit was proposed in this paper. In order to support a precise 3D table-top display with an offset of less than 2 mm, a custommade mechanism was developed to form precise surface and regulate the feedback force. The proposed image processing unit was capable of extracting texture data from 2D picture for rendering shape-changing surface and realizing 3D modeling. The preliminary evaluation result proved the feasibility of the proposed system.

Representations of space based on haptic input

NARCIS (Netherlands)

Zuidhoek, S.

2005-01-01

The present thesis focused on the representations of grasping space based on haptic input. We aimed at identifying their characteristics, and the underlying neurocognitive processes and mechanisms. To this end, we studied the systematic distortions in performance on several orientation perception

Curvature correction of retinal OCTs using graph-based geometry detection

Science.gov (United States)

Kafieh, Raheleh; Rabbani, Hossein; Abramoff, Michael D.; Sonka, Milan

2013-05-01

In this paper, we present a new algorithm as an enhancement and preprocessing step for acquired optical coherence tomography (OCT) images of the retina. The proposed method is composed of two steps, first of which is a denoising algorithm with wavelet diffusion based on a circular symmetric Laplacian model, and the second part can be described in terms of graph-based geometry detection and curvature correction according to the hyper-reflective complex layer in the retina. The proposed denoising algorithm showed an improvement of contrast-to-noise ratio from 0.89 to 1.49 and an increase of signal-to-noise ratio (OCT image SNR) from 18.27 to 30.43 dB. By applying the proposed method for estimation of the interpolated curve using a full automatic method, the mean ± SD unsigned border positioning error was calculated for normal and abnormal cases. The error values of 2.19 ± 1.25 and 8.53 ± 3.76 µm were detected for 200 randomly selected slices without pathological curvature and 50 randomly selected slices with pathological curvature, respectively. The important aspect of this algorithm is its ability in detection of curvature in strongly pathological images that surpasses previously introduced methods; the method is also fast, compared to the relatively low speed of similar methods.

Massage Therapy of the Back Using a Real-Time Haptic-Enhanced Telerehabilitation System

Directory of Open Access Journals (Sweden)

Cristina Ramírez-Fernández

2017-01-01

Full Text Available We present the usability evaluation of a haptic-enhanced telerehabilitation system for massage therapy of the back using the Vybe haptic gaming pad and the gesture sensor LEAP motion controller. The evaluated system includes features that allow for (i administering online therapy programs, (ii providing self-adjustable and safety treatment of back massages using a virtual environment, and (iii saving and replaying massage sessions according to a patient’s therapy program. The usability evaluation with 25 older adults and 10 specialists suggests that the haptic telerehabilitation system is perceived with high usability and pleasurable user experience, while providing personalized intensity of haptic therapy in a supervised, real-time, and secure way to treat the patient. Moreover, the specialists totally agree that the system design features, such as save and play, and delimiting therapy zones are the most important for back massage therapy, while the features of regulating feedback intensity and providing/receiving a massage remotely are also important. Finally, based on their comments, five design insights aiming at improving the current version of the system were generated.

Neurosurgery simulation using non-linear finite element modeling and haptic interaction

Science.gov (United States)

Lee, Huai-Ping; Audette, Michel; Joldes, Grand R.; Enquobahrie, Andinet

2012-02-01

Real-time surgical simulation is becoming an important component of surgical training. To meet the realtime requirement, however, the accuracy of the biomechancial modeling of soft tissue is often compromised due to computing resource constraints. Furthermore, haptic integration presents an additional challenge with its requirement for a high update rate. As a result, most real-time surgical simulation systems employ a linear elasticity model, simplified numerical methods such as the boundary element method or spring-particle systems, and coarse volumetric meshes. However, these systems are not clinically realistic. We present here an ongoing work aimed at developing an efficient and physically realistic neurosurgery simulator using a non-linear finite element method (FEM) with haptic interaction. Real-time finite element analysis is achieved by utilizing the total Lagrangian explicit dynamic (TLED) formulation and GPU acceleration of per-node and per-element operations. We employ a virtual coupling method for separating deformable body simulation and collision detection from haptic rendering, which needs to be updated at a much higher rate than the visual simulation. The system provides accurate biomechancial modeling of soft tissue while retaining a real-time performance with haptic interaction. However, our experiments showed that the stability of the simulator depends heavily on the material property of the tissue and the speed of colliding objects. Hence, additional efforts including dynamic relaxation are required to improve the stability of the system.

Some Inequalities for the -Curvature Image

Directory of Open Access Journals (Sweden)

Daijun Wei

2009-01-01

Full Text Available Lutwak introduced the notion of -curvature image and proved an inequality for the volumes of convex body and its -curvature image. In this paper, we first give an monotonic property of -curvature image. Further, we establish two inequalities for the -curvature image and its polar, respectively. Finally, an inequality for the volumes of -projection body and -curvature image is obtained.

Sensitive zone parameters and curvature radius evaluation for polymer optical fiber curvature sensors

Science.gov (United States)

Leal-Junior, Arnaldo G.; Frizera, Anselmo; José Pontes, Maria

2018-03-01

Polymer optical fibers (POFs) are suitable for applications such as curvature sensors, strain, temperature, liquid level, among others. However, for enhancing sensitivity, many polymer optical fiber curvature sensors based on intensity variation require a lateral section. Lateral section length, depth, and surface roughness have great influence on the sensor sensitivity, hysteresis, and linearity. Moreover, the sensor curvature radius increase the stress on the fiber, which leads on variation of the sensor behavior. This paper presents the analysis relating the curvature radius and lateral section length, depth and surface roughness with the sensor sensitivity, hysteresis and linearity for a POF curvature sensor. Results show a strong correlation between the decision parameters behavior and the performance for sensor applications based on intensity variation. Furthermore, there is a trade-off among the sensitive zone length, depth, surface roughness, and curvature radius with the sensor desired performance parameters, which are minimum hysteresis, maximum sensitivity, and maximum linearity. The optimization of these parameters is applied to obtain a sensor with sensitivity of 20.9 mV/°, linearity of 0.9992 and hysteresis below 1%, which represent a better performance of the sensor when compared with the sensor without the optimization.

Testing haptic sensations for spinal anesthesia.

LENUS (Irish Health Repository)

2011-01-01

Having identified key determinants of teaching and learning spinal anesthesia, it was necessary to characterize and render the haptic sensations (feeling of touch) associated with needle insertion in the lower back. The approach used is to match recreated sensations (eg, "pop" through skin or dura mater) with experts\\' perceptions of the equivalent clinical events.

Improving the performance of DTP2 bilateral teleoperation control system with haptic augmentation

International Nuclear Information System (INIS)

Viinikainen, Mikko; Tuominen, Janne; Alho, Pekka; Mattila, Jouni

2014-01-01

Highlights: •An experimental haptic shared control system, called CAT developed at the DTP2. •We investigate how the system integrates with the ITER compliant DTP2 RHCS. •The effect of CAT experimentally assessed in an ITER relevant maintenance scenario. -- Abstract: The remote maintenance of the ITER divertor is largely dependent on the usage of haptically teleoperated manipulators and man-in-the-loop operations. These maintenance operations are very demanding for the manipulator operators, yet vital for the success of the whole ITER experiment. Haptic shared control of the maintenance manipulators offers a promising solution for assisting the teleoperators in the maintenance tasks. A shared control system assists the operator by generating artificial guiding force effects and overlaying them on top of the haptic feedback from the teleoperation environment. An experimental haptic shared control system, called the Computer Assisted Teleoperation (CAT) has been developed at the Divertor Test Platform 2 (DTP2). In this paper, we investigate the design of the system and how the system integrates with the ITER compliant DTP2 prototype Remote Handling Control System (RHCS). We also experimentally assess the effect of the guidance to the operator performance in an ITER-relevant maintenance scenario using the Water Hydraulic MANipulator (WHMAN), which is specially designed for the divertor maintenance. The result of the experiment gives suggestive indication that the CAT system improves the performance of the operators of the system

Brane cosmology with curvature corrections

International Nuclear Information System (INIS)

Kofinas, Georgios; Maartens, Roy; Papantonopoulos, Eleftherios

2003-01-01

We study the cosmology of the Randall-Sundrum brane-world where the Einstein-Hilbert action is modified by curvature correction terms: a four-dimensional scalar curvature from induced gravity on the brane, and a five-dimensional Gauss-Bonnet curvature term. The combined effect of these curvature corrections to the action removes the infinite-density big bang singularity, although the curvature can still diverge for some parameter values. A radiation brane undergoes accelerated expansion near the minimal scale factor, for a range of parameters. This acceleration is driven by the geometric effects, without an inflation field or negative pressures. At late times, conventional cosmology is recovered. (author)

Control of 4-DOF MR haptic master for medical application

Science.gov (United States)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-03-01

In this work, magnetorheological (MR) based haptic master for robot-assisted minimally invasive surgery (RMIS) is proposed and analyzed. Using a controllable MR fluid, the masters can generate a reflection force with the 4-DOF motion. The proposed master consists of two actuators: MR clutch featuring gimbal mechanism for 2-DOF rotational motion (X and Y axes) and MR clutch attached at gripper of gimbal structures for 1-DOF rotational motion (Z axis) and 1-DOF translational motion. After analyzing the dynamic motion by integrating mechanical and physical properties of the actuators, torque model of the proposed haptic master is derived. For realization of master-slave system, an encoder which can measure position information is integrated with the MR haptic master. In the RMIS system, the measured position is converted as a command signal and sent to the slave robot. In this work, slave and organ of patient are modeled in virtual space. In order to embody a human organ into virtual space, a volumetric deformable object is mathematically formulated by a shape retaining chain linked (S-chain) model. Accordingly, the haptic architecture is established by incorporating the virtual slave with the master device in which the reflection force and desired position originated from the object of the virtual slave and operator of the master, respectively, are transferred to each other. In order to achieve the desired force trajectories, a proportional-integral-derivative (PID) controller is designed and implemented. It has been demonstrated that the effective tracking control performance for the desired motion of reflection force is well presented in time domain.

Cosmic curvature tested directly from observations

Science.gov (United States)

Denissenya, Mikhail; Linder, Eric V.; Shafieloo, Arman

2018-03-01

Cosmic spatial curvature is a fundamental geometric quantity of the Universe. We investigate a model independent, geometric approach to measure spatial curvature directly from observations, without any derivatives of data. This employs strong lensing time delays and supernova distance measurements to measure the curvature itself, rather than just testing consistency with flatness. We define two curvature estimators, with differing error propagation characteristics, that can crosscheck each other, and also show how they can be used to map the curvature in redshift slices, to test constancy of curvature as required by the Robertson-Walker metric. Simulating realizations of redshift distributions and distance measurements of lenses and sources, we estimate uncertainties on the curvature enabled by next generation measurements. The results indicate that the model independent methods, using only geometry without assuming forms for the energy density constituents, can determine the curvature at the ~6×10‑3 level.

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

Science.gov (United States)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-09-01

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.

A Study on Immersion and Presence of a Portable Hand Haptic System for Immersive Virtual Reality.

Science.gov (United States)

Kim, Mingyu; Jeon, Changyu; Kim, Jinmo

2017-05-17

This paper proposes a portable hand haptic system using Leap Motion as a haptic interface that can be used in various virtual reality (VR) applications. The proposed hand haptic system was designed as an Arduino-based sensor architecture to enable a variety of tactile senses at low cost, and is also equipped with a portable wristband. As a haptic system designed for tactile feedback, the proposed system first identifies the left and right hands and then sends tactile senses (vibration and heat) to each fingertip (thumb and index finger). It is incorporated into a wearable band-type system, making its use easy and convenient. Next, hand motion is accurately captured using the sensor of the hand tracking system and is used for virtual object control, thus achieving interaction that enhances immersion. A VR application was designed with the purpose of testing the immersion and presence aspects of the proposed system. Lastly, technical and statistical tests were carried out to assess whether the proposed haptic system can provide a new immersive presence to users. According to the results of the presence questionnaire and the simulator sickness questionnaire, we confirmed that the proposed hand haptic system, in comparison to the existing interaction that uses only the hand tracking system, provided greater presence and a more immersive environment in the virtual reality.

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

International Nuclear Information System (INIS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-01-01

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved. (paper)

A Study on Immersion and Presence of a Portable Hand Haptic System for Immersive Virtual Reality

Science.gov (United States)

Kim, Mingyu; Jeon, Changyu; Kim, Jinmo

2017-01-01

This paper proposes a portable hand haptic system using Leap Motion as a haptic interface that can be used in various virtual reality (VR) applications. The proposed hand haptic system was designed as an Arduino-based sensor architecture to enable a variety of tactile senses at low cost, and is also equipped with a portable wristband. As a haptic system designed for tactile feedback, the proposed system first identifies the left and right hands and then sends tactile senses (vibration and heat) to each fingertip (thumb and index finger). It is incorporated into a wearable band-type system, making its use easy and convenient. Next, hand motion is accurately captured using the sensor of the hand tracking system and is used for virtual object control, thus achieving interaction that enhances immersion. A VR application was designed with the purpose of testing the immersion and presence aspects of the proposed system. Lastly, technical and statistical tests were carried out to assess whether the proposed haptic system can provide a new immersive presence to users. According to the results of the presence questionnaire and the simulator sickness questionnaire, we confirmed that the proposed hand haptic system, in comparison to the existing interaction that uses only the hand tracking system, provided greater presence and a more immersive environment in the virtual reality. PMID:28513545

Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Directory of Open Access Journals (Sweden)

Juan Manuel Ibarra-Zannatha

2007-01-01

Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

Differences between early-blind, late-blind, and blindfolded-sighted people in haptic spatial-configuration learning and resulting memory traces

NARCIS (Netherlands)

Postma, Albert; Zuidhoek, Sander; Noordzij, Matthijs L.; Kappers, Astrid M L

2007-01-01

The roles of visual and haptic experience in different aspects of haptic processing of objects in peripersonal space are examined. In three trials, early-blind, late-blind, and blindfoldedsighted individuals had to match ten shapes haptically to the cut-outs in a board as fast as possible. Both

Haptic-STM: a human-in-the-loop interface to a scanning tunneling microscope.

Science.gov (United States)

Perdigão, Luís M A; Saywell, Alex

2011-07-01

The operation of a haptic device interfaced with a scanning tunneling microscope (STM) is presented here. The user moves the STM tip in three dimensions by means of a stylus attached to the haptic instrument. The tunneling current measured by the STM is converted to a vertical force, applied to the stylus and felt by the user, with the user being incorporated into the feedback loop that controls the tip-surface distance. A haptic-STM interface of this nature allows the user to feel atomic features on the surface and facilitates the tactile manipulation of the adsorbate/substrate system. The operation of this device is demonstrated via the room temperature STM imaging of C(60) molecules adsorbed on an Au(111) surface in ultra-high vacuum.

Regularized strings with extrinsic curvature

International Nuclear Information System (INIS)

Ambjoern, J.; Durhuus, B.

1987-07-01

We analyze models of discretized string theories, where the path integral over world sheet variables is regularized by summing over triangulated surfaces. The inclusion of curvature in the action is a necessity for the scaling of the string tension. We discuss the physical properties of models with extrinsic curvature terms in the action and show that the string tension vanishes at the critical point where the bare extrinsic curvature coupling tends to infinity. Similar results are derived for models with intrinsic curvature. (orig.)

The Effect of Dopaminergic Medication on Joint Kinematics during Haptic Movements in Individuals with Parkinson’s Disease

Directory of Open Access Journals (Sweden)

Kuan-yi Li

2017-01-01

Full Text Available This study examined whether altered joint angular motion during haptic exploration could account for a decline in haptic sensitivity in individuals with PD by analyzing joint position data during haptic exploration of a curved contour. Each participant’s hand was passively moved by a robotic arm along the edges of a virtual box (5 cm × 15 cm with a curved left wall. After each trial, participants indicated whether the contour was curved or straight. Visual, auditory, and tactile cues were occluded, and an electrogoniometer recorded shoulder and elbow joint angles during each trial. The PD group in the OFF state had a higher mean detection threshold (4.67 m−1 than the control group (3.06 m−1. Individuals with PD in the OFF state also had a significantly greater magnitude of shoulder abduction than those in the ON state (p=0.003 and a smaller magnitude of elbow flexion than those in the ON state or compared to the control group (both p<0.001. These findings suggest that individuals with PD employ joint configurations that may contribute to haptic insensitivity. Dopamine replacement therapy improved joint configurations during haptic exploration in patients with PD, suggesting a role for dopaminergic dysfunction in PD-related haptic insensitivity.

The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review.

Science.gov (United States)

van der Meijden, O A J; Schijven, M P

2009-06-01

Virtual reality (VR) as surgical training tool has become a state-of-the-art technique in training and teaching skills for minimally invasive surgery (MIS). Although intuitively appealing, the true benefits of haptic (VR training) platforms are unknown. Many questions about haptic feedback in the different areas of surgical skills (training) need to be answered before adding costly haptic feedback in VR simulation for MIS training. This study was designed to review the current status and value of haptic feedback in conventional and robot-assisted MIS and training by using virtual reality simulation. A systematic review of the literature was undertaken using PubMed and MEDLINE. The following search terms were used: Haptic feedback OR Haptics OR Force feedback AND/OR Minimal Invasive Surgery AND/OR Minimal Access Surgery AND/OR Robotics AND/OR Robotic Surgery AND/OR Endoscopic Surgery AND/OR Virtual Reality AND/OR Simulation OR Surgical Training/Education. The results were assessed according to level of evidence as reflected by the Oxford Centre of Evidence-based Medicine Levels of Evidence. In the current literature, no firm consensus exists on the importance of haptic feedback in performing minimally invasive surgery. Although the majority of the results show positive assessment of the benefits of force feedback, results are ambivalent and not unanimous on the subject. Benefits are least disputed when related to surgery using robotics, because there is no haptic feedback in currently used robotics. The addition of haptics is believed to reduce surgical errors resulting from a lack of it, especially in knot tying. Little research has been performed in the area of robot-assisted endoscopic surgical training, but results seem promising. Concerning VR training, results indicate that haptic feedback is important during the early phase of psychomotor skill acquisition.

Vibrotactile perception assessment for a haptic interface on an antigravity suit.

Science.gov (United States)

Ko, Sang Min; Lee, Kwangil; Kim, Daeho; Ji, Yong Gu

2017-01-01

Haptic technology is used in various fields to transmit information to the user with or without visual and auditory cues. This study aimed to provide preliminary data for use in developing a haptic interface for an antigravity (anti-G) suit. With the structural characteristics of the anti-G suit in mind, we determined five areas on the body (lower back, outer thighs, inner thighs, outer calves, and inner calves) on which to install ten bar-type eccentric rotating mass (ERM) motors as vibration actuators. To determine the design factors of the haptic anti-G suit, we conducted three experiments to find the absolute threshold, moderate intensity, and subjective assessments of vibrotactile stimuli. Twenty-six fighter pilots participated in the experiments, which were conducted in a fixed-based flight simulator. From the results of our study, we recommend 1) absolute thresholds of ∼11.98-15.84 Hz and 102.01-104.06 dB, 2) moderate intensities of 74.36 Hz and 126.98 dB for the lower back and 58.65 Hz and 122.37 dB for either side of the thighs and calves, and 3) subjective assessments of vibrotactile stimuli (displeasure, easy to perceive, and level of comfort). The results of this study will be useful for the design of a haptic anti-G suit. Copyright © 2016 Elsevier Ltd. All rights reserved.

Virtual reality cerebral aneurysm clipping simulation with real-time haptic feedback.

Science.gov (United States)

Alaraj, Ali; Luciano, Cristian J; Bailey, Daniel P; Elsenousi, Abdussalam; Roitberg, Ben Z; Bernardo, Antonio; Banerjee, P Pat; Charbel, Fady T

2015-03-01

With the decrease in the number of cerebral aneurysms treated surgically and the increase of complexity of those treated surgically, there is a need for simulation-based tools to teach future neurosurgeons the operative techniques of aneurysm clipping. To develop and evaluate the usefulness of a new haptic-based virtual reality simulator in the training of neurosurgical residents. A real-time sensory haptic feedback virtual reality aneurysm clipping simulator was developed using the ImmersiveTouch platform. A prototype middle cerebral artery aneurysm simulation was created from a computed tomographic angiogram. Aneurysm and vessel volume deformation and haptic feedback are provided in a 3-dimensional immersive virtual reality environment. Intraoperative aneurysm rupture was also simulated. Seventeen neurosurgery residents from 3 residency programs tested the simulator and provided feedback on its usefulness and resemblance to real aneurysm clipping surgery. Residents thought that the simulation would be useful in preparing for real-life surgery. About two-thirds of the residents thought that the 3-dimensional immersive anatomic details provided a close resemblance to real operative anatomy and accurate guidance for deciding surgical approaches. They thought the simulation was useful for preoperative surgical rehearsal and neurosurgical training. A third of the residents thought that the technology in its current form provided realistic haptic feedback for aneurysm surgery. Neurosurgical residents thought that the novel immersive VR simulator is helpful in their training, especially because they do not get a chance to perform aneurysm clippings until late in their residency programs.

Exploring laterality and memory effects in the haptic discrimination of verbal and non-verbal shapes.

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Stoycheva, Polina; Tiippana, Kaisa

2018-03-14

The brain's left hemisphere often displays advantages in processing verbal information, while the right hemisphere favours processing non-verbal information. In the haptic domain due to contra-lateral innervations, this functional lateralization is reflected in a hand advantage during certain functions. Findings regarding the hand-hemisphere advantage for haptic information remain contradictory, however. This study addressed these laterality effects and their interaction with memory retention times in the haptic modality. Participants performed haptic discrimination of letters, geometric shapes and nonsense shapes at memory retention times of 5, 15 and 30 s with the left and right hand separately, and we measured the discriminability index d'. The d' values were significantly higher for letters and geometric shapes than for nonsense shapes. This might result from dual coding (naming + spatial) or/and from a low stimulus complexity. There was no stimulus-specific laterality effect. However, we found a time-dependent laterality effect, which revealed that the performance of the left hand-right hemisphere was sustained up to 15 s, while the performance of the right-hand-left hemisphere decreased progressively throughout all retention times. This suggests that haptic memory traces are more robust to decay when they are processed by the left hand-right hemisphere.

Curvature correction of retinal OCTs using graph-based geometry detection

International Nuclear Information System (INIS)

Kafieh, Raheleh; Rabbani, Hossein; Abramoff, Michael D; Sonka, Milan

2013-01-01

In this paper, we present a new algorithm as an enhancement and preprocessing step for acquired optical coherence tomography (OCT) images of the retina. The proposed method is composed of two steps, first of which is a denoising algorithm with wavelet diffusion based on a circular symmetric Laplacian model, and the second part can be described in terms of graph-based geometry detection and curvature correction according to the hyper-reflective complex layer in the retina. The proposed denoising algorithm showed an improvement of contrast-to-noise ratio from 0.89 to 1.49 and an increase of signal-to-noise ratio (OCT image SNR) from 18.27 to 30.43 dB. By applying the proposed method for estimation of the interpolated curve using a full automatic method, the mean ± SD unsigned border positioning error was calculated for normal and abnormal cases. The error values of 2.19 ± 1.25 and 8.53 ± 3.76 µm were detected for 200 randomly selected slices without pathological curvature and 50 randomly selected slices with pathological curvature, respectively. The important aspect of this algorithm is its ability in detection of curvature in strongly pathological images that surpasses previously introduced methods; the method is also fast, compared to the relatively low speed of similar methods. (paper)

Comprehensive Use of Curvature for Robust and Accurate Online Surface Reconstruction.

Science.gov (United States)

Lefloch, Damien; Kluge, Markus; Sarbolandi, Hamed; Weyrich, Tim; Kolb, Andreas

2017-12-01

Interactive real-time scene acquisition from hand-held depth cameras has recently developed much momentum, enabling applications in ad-hoc object acquisition, augmented reality and other fields. A key challenge to online reconstruction remains error accumulation in the reconstructed camera trajectory, due to drift-inducing instabilities in the range scan alignments of the underlying iterative-closest-point (ICP) algorithm. Various strategies have been proposed to mitigate that drift, including SIFT-based pre-alignment, color-based weighting of ICP pairs, stronger weighting of edge features, and so on. In our work, we focus on surface curvature as a feature that is detectable on range scans alone and hence does not depend on accurate multi-sensor alignment. In contrast to previous work that took curvature into consideration, however, we treat curvature as an independent quantity that we consistently incorporate into every stage of the real-time reconstruction pipeline, including densely curvature-weighted ICP, range image fusion, local surface reconstruction, and rendering. Using multiple benchmark sequences, and in direct comparison to other state-of-the-art online acquisition systems, we show that our approach significantly reduces drift, both when analyzing individual pipeline stages in isolation, as well as seen across the online reconstruction pipeline as a whole.

Mechanical model of orthopaedic drilling for augmented-haptics-based training.

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Pourkand, Ashkan; Zamani, Naghmeh; Grow, David

2017-10-01

In this study, augmented-haptic feedback is used to combine a physical object with virtual elements in order to simulate anatomic variability in bone. This requires generating levels of force/torque consistent with clinical bone drilling, which exceed the capabilities of commercially available haptic devices. Accurate total force generation is facilitated by a predictive model of axial force during simulated orthopaedic drilling. This model is informed by kinematic data collected while drilling into synthetic bone samples using an instrumented linkage attached to the orthopaedic drill. Axial force is measured using a force sensor incorporated into the bone fixture. A nonlinear function, relating force to axial position and velocity, was used to fit the data. The normalized root-mean-square error (RMSE) of forces predicted by the model compared to those measured experimentally was 0.11 N across various bones with significant differences in geometry and density. This suggests that a predictive model can be used to capture relevant variations in the thickness and hardness of cortical and cancellous bone. The practical performance of this approach is measured using the Phantom Premium haptic device, with some required customizations. Copyright © 2017 Elsevier Ltd. All rights reserved.

Palpation imaging using a haptic system for virtual reality applications in medicine.

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Khaled, W; Reichling, S; Bruhns, O T; Boese, H; Baumann, M; Monkman, G; Egersdoerfer, S; Klein, D; Tunayar, A; Freimuth, H; Lorenz, A; Pessavento, A; Ermert, H

2004-01-01

In the field of medical diagnosis, there is a strong need to determine mechanical properties of biological tissue, which are of histological and pathological relevance. Malignant tumors are significantly stiffer than surrounding healthy tissue. One of the established diagnosis procedures is the palpation of body organs and tissue. Palpation is used to measure swelling, detect bone fracture, find and measure pulse, or to locate changes in the pathological state of tissue and organs. Current medical practice routinely uses sophisticated diagnostic tests through magnetic resonance imaging (MRI), computed tomography (CT) and ultrasound (US) imaging. However, they cannot provide direct measure of tissue elasticity. Last year we presented the concept of the first haptic sensor actuator system to visualize and reconstruct mechanical properties of tissue using ultrasonic elastography and a haptic display with electrorheological fluids. We developed a real time strain imaging system for tumor diagnosis. It allows biopsies simultaneously to conventional ultrasound B-Mode and strain imaging investigations. We deduce the relative mechanical properties by using finite element simulations and numerical solution models solving the inverse problem. Various modifications on the haptic sensor actuator system have been investigated. This haptic system has the potential of inducing real time substantial forces, using a compact lightweight mechanism which can be applied to numerous areas including intraoperative navigation, telemedicine, teaching and telecommunication.

A perspective on the role and utility of haptic feedback in laparoscopic skills training.

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Singapogu, Ravikiran; Burg, Timothy; Burg, Karen J L; Smith, Dane E; Eckenrode, Amanda H

2014-01-01

Laparoscopic surgery is a minimally invasive surgical technique with significant potential benefits to the patient, including shorter recovery time, less scarring, and decreased costs. There is a growing need to teach surgical trainees this emerging surgical technique. Simulators, ranging from simple "box" trainers to complex virtual reality (VR) trainers, have emerged as the most promising method for teaching basic laparoscopic surgical skills. Current box trainers require oversight from an expert surgeon for both training and assessing skills. VR trainers decrease the dependence on expert teachers during training by providing objective, real-time feedback and automatic skills evaluation. However, current VR trainers generally have limited credibility as a means to prepare new surgeons and have often fallen short of educators' expectations. Several researchers have speculated that the missing component in modern VR trainers is haptic feedback, which refers to the range of touch sensations encountered during surgery. These force types and ranges need to be adequately rendered by simulators for a more complete training experience. This article presents a perspective of the role and utility of haptic feedback during laparoscopic surgery and laparoscopic skills training by detailing the ranges and types of haptic sensations felt by the operating surgeon, along with quantitative studies of how this feedback is used. Further, a number of research studies that have documented human performance effects as a result of the presence of haptic feedback are critically reviewed. Finally, key research directions in using haptic feedback for laparoscopy training simulators are identified.

The Use of Haptic and Tactile Information in the Car to Improve Driving Safety: A Review of Current Technologies

Directory of Open Access Journals (Sweden)

Yoren Gaffary

2018-03-01

Full Text Available This paper surveys the haptic technologies deployed in cars and their uses to enhance drivers’ safety during manual driving. These technologies enable to deliver haptic (tactile or kinesthetic feedback at various areas of the car, such as the steering wheel, the seat, or the pedal. The paper explores two main uses of the haptic modality to fulfill the safety objective: to provide driving assistance and warning. Driving assistance concerns the transmission of information usually conveyed with other modalities for controlling the car’s functions, maneuvering support, and guidance. Warning concerns the prevention of accidents using emergency warnings, increasing the awareness of surroundings, and preventing collisions, lane departures, and speeding. This paper discusses how haptic feedback has been introduced so far for these purposes and provides perspectives regarding the present and future of haptic cars meant to increase driver’s safety.

Curvature Entropy for Curved Profile Generation

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Koichiro Sato

2012-03-01

Full Text Available In a curved surface design, the overall shape features that emerge from combinations of shape elements are important. However, controlling the features of the overall shape in curved profiles is difficult using conventional microscopic shape information such as dimension. Herein two types of macroscopic shape information, curvature entropy and quadrature curvature entropy, quantitatively represent the features of the overall shape. The curvature entropy is calculated by the curvature distribution, and represents the complexity of a shape (one of the overall shape features. The quadrature curvature entropy is an improvement of the curvature entropy by introducing a Markov process to evaluate the continuity of a curvature and to approximate human cognition of the shape. Additionally, a shape generation method using a genetic algorithm as a calculator and the entropy as a shape generation index is presented. Finally, the applicability of the proposed method is demonstrated using the side view of an automobile as a design example.

Introducing quantum Ricci curvature

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Klitgaard, N.; Loll, R.

2018-02-01

Motivated by the search for geometric observables in nonperturbative quantum gravity, we define a notion of coarse-grained Ricci curvature. It is based on a particular way of extracting the local Ricci curvature of a smooth Riemannian manifold by comparing the distance between pairs of spheres with that of their centers. The quantum Ricci curvature is designed for use on non-smooth and discrete metric spaces, and to satisfy the key criteria of scalability and computability. We test the prescription on a variety of regular and random piecewise flat spaces, mostly in two dimensions. This enables us to quantify its behavior for short lattices distances and compare its large-scale behavior with that of constantly curved model spaces. On the triangulated spaces considered, the quantum Ricci curvature has good averaging properties and reproduces classical characteristics on scales large compared to the discretization scale.

Performance improvement of haptic collision detection using subdivision surface and sphere clustering.

Directory of Open Access Journals (Sweden)

A Ram Choi

Full Text Available Haptics applications such as surgery simulations require collision detections that are more precise than others. An efficient collision detection method based on the clustering of bounding spheres was proposed in our prior study. This paper analyzes and compares the applied effects of the five most common subdivision surface methods on some 3D models for haptic collision detection. The five methods are Butterfly, Catmull-Clark, Mid-point, Loop, and LS3 (Least Squares Subdivision Surface. After performing a number of experiments, we have concluded that LS3 method is the most appropriate for haptic simulations. The more we applied surface subdivision, the more the collision detection results became precise. However, it is observed that the performance becomes better until a certain threshold and degrades afterward. In order to reduce the performance degradation, we adopted our prior work, which was the fast and precise collision detection method based on adaptive clustering. As a result, we obtained a notable improvement of the speed of collision detection.

IMPROVING MEDICAL EDUCATION: SIMULATING CHANGES IN PATIENT ANATOMY USING DYNAMIC HAPTIC FEEDBACK.

Science.gov (United States)

Yovanoff, Mary; Pepley, David; Mirkin, Katelin; Moore, Jason; Han, David; Miller, Scarlett

2016-09-01

Virtual simulation is an emerging field in medical education. Research suggests that simulation reduces complication rates and improves learning gains for medical residents. One benefit of simulators is their allowance for more realistic and dynamic patient anatomies. While potentially useful throughout medical education, few studies have explored the impact of dynamic haptic simulators on medical training. In light of this research void, this study was developed to examine how a Dynamic-Haptic Robotic Trainer (DHRT) impacts medical student self-efficacy and skill gains compared to traditional simulators developed to train students in Internal Jugular Central Venous Catheter (IJ CVC) placement. The study was conducted with 18 third year medical students with no prior CVC insertion experience who underwent a pre-test, simulator training (manikin, robotic, or mixed) and post-test. The results revealed the DHRT as a useful method for training CVC skills and supports further research on dynamic haptic trainers in medical education.

Virtual Reality Cerebral Aneurysm Clipping Simulation With Real-time Haptic Feedback

Science.gov (United States)

Alaraj, Ali; Luciano, Cristian J.; Bailey, Daniel P.; Elsenousi, Abdussalam; Roitberg, Ben Z.; Bernardo, Antonio; Banerjee, P. Pat; Charbel, Fady T.

2014-01-01

Background With the decrease in the number of cerebral aneurysms treated surgically and the increase of complexity of those treated surgically, there is a need for simulation-based tools to teach future neurosurgeons the operative techniques of aneurysm clipping. Objective To develop and evaluate the usefulness of a new haptic-based virtual reality (VR) simulator in the training of neurosurgical residents. Methods A real-time sensory haptic feedback virtual reality aneurysm clipping simulator was developed using the Immersive Touch platform. A prototype middle cerebral artery aneurysm simulation was created from a computed tomography angiogram. Aneurysm and vessel volume deformation and haptic feedback are provided in a 3-D immersive VR environment. Intraoperative aneurysm rupture was also simulated. Seventeen neurosurgery residents from three residency programs tested the simulator and provided feedback on its usefulness and resemblance to real aneurysm clipping surgery. Results Residents felt that the simulation would be useful in preparing for real-life surgery. About two thirds of the residents felt that the 3-D immersive anatomical details provided a very close resemblance to real operative anatomy and accurate guidance for deciding surgical approaches. They believed the simulation is useful for preoperative surgical rehearsal and neurosurgical training. One third of the residents felt that the technology in its current form provided very realistic haptic feedback for aneurysm surgery. Conclusion Neurosurgical residents felt that the novel immersive VR simulator is helpful in their training especially since they do not get a chance to perform aneurysm clippings until very late in their residency programs. PMID:25599200

Multisensory Interactions between Auditory and Haptic Object Recognition

DEFF Research Database (Denmark)

Kassuba, Tanja; Menz, Mareike M; R�der, Brigitte

2013-01-01

and haptic object features activate cortical regions that host unified conceptual object representations. The left fusiform gyrus (FG) and posterior superior temporal sulcus (pSTS) showed increased activation during crossmodal matching of semantically congruent but not incongruent object stimuli. In the FG...

Recruitment of Foveal Retinotopic Cortex During Haptic Exploration of Shapes and Actions in the Dark.

Science.gov (United States)

Monaco, Simona; Gallivan, Jason P; Figley, Teresa D; Singhal, Anthony; Culham, Jody C

2017-11-29

The role of the early visual cortex and higher-order occipitotemporal cortex has been studied extensively for visual recognition and to a lesser degree for haptic recognition and visually guided actions. Using a slow event-related fMRI experiment, we investigated whether tactile and visual exploration of objects recruit the same "visual" areas (and in the case of visual cortex, the same retinotopic zones) and if these areas show reactivation during delayed actions in the dark toward haptically explored objects (and if so, whether this reactivation might be due to imagery). We examined activation during visual or haptic exploration of objects and action execution (grasping or reaching) separated by an 18 s delay. Twenty-nine human volunteers (13 females) participated in this study. Participants had their eyes open and fixated on a point in the dark. The objects were placed below the fixation point and accordingly visual exploration activated the cuneus, which processes retinotopic locations in the lower visual field. Strikingly, the occipital pole (OP), representing foveal locations, showed higher activation for tactile than visual exploration, although the stimulus was unseen and location in the visual field was peripheral. Moreover, the lateral occipital tactile-visual area (LOtv) showed comparable activation for tactile and visual exploration. Psychophysiological interaction analysis indicated that the OP showed stronger functional connectivity with anterior intraparietal sulcus and LOtv during the haptic than visual exploration of shapes in the dark. After the delay, the cuneus, OP, and LOtv showed reactivation that was independent of the sensory modality used to explore the object. These results show that haptic actions not only activate "visual" areas during object touch, but also that this information appears to be used in guiding grasping actions toward targets after a delay. SIGNIFICANCE STATEMENT Visual presentation of an object activates shape

Real-time vision, tactile cues, and visual form agnosia in pantomimed grasping: removing haptic feedback induces a switch from natural to pantomime-like grasps

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Robert Leslie Whitwell

2015-05-01

Full Text Available Investigators study the kinematics of grasping movements (prehension under a variety of conditions to probe visuomotor function in normal and brain-damaged individuals. When patient DF, who suffers from visual form agnosia, performs natural grasps, her in-flight hand aperture is scaled to the widths of targets ('grip scaling' that she cannot discriminate amongst. In contrast, when DF's pantomime grasps are based on a memory of a previewed object, her grip scaling is very poor. Her failure on this task has been interpreted as additional support for the dissociation between the use of object vision for action and object vision for perception. Curiously, however, when DF directs her pantomimed grasps towards a displaced imagined copy of a visible object where her fingers make contact with the surface of the table, her grip scaling does not appear to be particularly poor. In the first of two experiments, we revisit this previous work and show that her grip scaling in this real-time pantomime grasping task does not differ from controls, suggesting that terminal tactile feedback from a proxy of the target can maintain DF's grip scaling. In a second experiment with healthy participants, we tested a recent variant of a grasping task in which no tactile feedback is available (i.e. no haptic feedback by comparing the kinematics of target-directed grasps with and without haptic feedback to those of real-time pantomime grasps without haptic feedback. Compared to natural grasps, removing haptic feedback increased RT, slowed the velocity of the reach, reduced grip aperture, sharpened the slopes relating grip aperture to target width, and reduced the final grip aperture. All of these effects were also observed in the pantomime grasping task. Taken together, these results provide compelling support for the view that removing haptic feedback induces a switch from real-time visual control to one that depends more on visual perception and cognitive supervision.

Short-term plasticity of visuo-haptic object recognition

DEFF Research Database (Denmark)

Kassuba, Tanja; Klinge, Corinna; Hölig, Cordula

2014-01-01

, the same stimulation gave rise to relative increases in activation during S2 processing in the right LO, left FG, bilateral IPS, and other regions previously associated with object recognition. Critically, the modality of S2 determined which regions were recruited after rTMS. Relative to sham rTMS, real r......TMS induced increased activations during crossmodal congruent matching in the left FG for haptic S2 and the temporal pole for visual S2. In addition, we found stronger activations for incongruent than congruent matching in the right anterior parahippocampus and middle frontal gyrus for crossmodal matching......Functional magnetic resonance imaging (fMRI) studies have provided ample evidence for the involvement of the lateral occipital cortex (LO), fusiform gyrus (FG), and intraparietal sulcus (IPS) in visuo-haptic object integration. Here we applied 30 min of sham (non-effective) or real offline 1 Hz...

Curvature Entropy for Curved Profile Generation

OpenAIRE

Ujiie, Yoshiki; Kato, Takeo; Sato, Koichiro; Matsuoka, Yoshiyuki

2012-01-01

In a curved surface design, the overall shape features that emerge from combinations of shape elements are important. However, controlling the features of the overall shape in curved profiles is difficult using conventional microscopic shape information such as dimension. Herein two types of macroscopic shape information, curvature entropy and quadrature curvature entropy, quantitatively represent the features of the overall shape. The curvature entropy is calculated by the curvature distribu...

Curvature-Induced Instabilities of Shells

Science.gov (United States)

Pezzulla, Matteo; Stoop, Norbert; Steranka, Mark P.; Bade, Abdikhalaq J.; Holmes, Douglas P.

2018-01-01

Induced by proteins within the cell membrane or by differential growth, heating, or swelling, spontaneous curvatures can drastically affect the morphology of thin bodies and induce mechanical instabilities. Yet, the interaction of spontaneous curvature and geometric frustration in curved shells remains poorly understood. Via a combination of precision experiments on elastomeric spherical shells, simulations, and theory, we show how a spontaneous curvature induces a rotational symmetry-breaking buckling as well as a snapping instability reminiscent of the Venus fly trap closure mechanism. The instabilities, and their dependence on geometry, are rationalized by reducing the spontaneous curvature to an effective mechanical load. This formulation reveals a combined pressurelike term in the bulk and a torquelike term in the boundary, allowing scaling predictions for the instabilities that are in excellent agreement with experiments and simulations. Moreover, the effective pressure analogy suggests a curvature-induced subcritical buckling in closed shells. We determine the critical buckling curvature via a linear stability analysis that accounts for the combination of residual membrane and bending stresses. The prominent role of geometry in our findings suggests the applicability of the results over a wide range of scales.

Virtual reality haptic dissection.

Science.gov (United States)

Erolin, Caroline; Wilkinson, Caroline; Soames, Roger

2011-12-01

This project aims to create a three-dimensional digital model of the human hand and wrist which can be virtually 'dissected' through a haptic interface. Tissue properties will be added to the various anatomical structures to replicate a realistic look and feel. The project will explore the role of the medical artist, and investigate cross-discipline collaborations in the field of virtual anatomy. The software will be used to train anatomy students in dissection skills, before experience on a real cadaver. The effectiveness of the software will be evaluated and assessed both quantitatively as well as qualitatively.

Design of a smart haptic system for repulsive force control under irregular manipulation environment

International Nuclear Information System (INIS)

Lee, Sang-Rock; Choi, Seung-Hyun; Choi, Seung-Bok; Cho, Myeong-Woo

2014-01-01

This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator’s movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented. (paper)

Rhythmic Haptic Stimuli Improve Short-Term Attention.

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Zhang, Shusheng; Wang, Dangxiao; Afzal, Naqash; Zhang, Yuru; Wu, Ruilin

2016-01-01

Brainwave entrainment using rhythmic visual and/or auditory stimulation has shown its efficacy in modulating neural activities and cognitive ability. In the presented study, we aim to investigate whether rhythmic haptic stimulation could enhance short-term attention. An experiment with sensorimotor rhythm (SMR) increasing protocol was performed in which participants were presented sinusoidal vibrotactile stimulus of 15 Hz on their palm. Test of Variables of Attention (T.O.V.A.) was performed before and after the stimulating session. Electroencephalograph (EEG) was recorded across the stimulating session and the two attention test sessions. SMR band power manifested a significant increase after stimulation. Results of T.O.V.A. tests indicated an improvement in the attention of participants who had received the stimulation compared to the control group who had not received the stimulation. The D prime score of T.O.V.A. reveals that participants performed better in perceptual sensitivity and sustaining attention level compared to their baseline performance before the stimulating session. These findings highlight the potential value of using haptics-based brainwave entrainment for cognitive training.

A Haptic Feedback Scheme to Accurately Position a Virtual Wrist Prosthesis Using a Three-Node Tactor Array.

Directory of Open Access Journals (Sweden)

Andrew Erwin

Full Text Available In this paper, a novel haptic feedback scheme, used for accurately positioning a 1DOF virtual wrist prosthesis through sensory substitution, is presented. The scheme employs a three-node tactor array and discretely and selectively modulates the stimulation frequency of each tactor to relay 11 discrete haptic stimuli to the user. Able-bodied participants were able to move the virtual wrist prosthesis via a surface electromyography based controller. The participants evaluated the feedback scheme without visual or audio feedback and relied solely on the haptic feedback alone to correctly position the hand. The scheme was evaluated through both normal (perpendicular and shear (lateral stimulations applied on the forearm. Normal stimulations were applied through a prototype device previously developed by the authors while shear stimulations were generated using an ubiquitous coin motor vibrotactor. Trials with no feedback served as a baseline to compare results within the study and to the literature. The results indicated that using normal and shear stimulations resulted in accurately positioning the virtual wrist, but were not significantly different. Using haptic feedback was substantially better than no feedback. The results found in this study are significant since the feedback scheme allows for using relatively few tactors to relay rich haptic information to the user and can be learned easily despite a relatively short amount of training. Additionally, the results are important for the haptic community since they contradict the common conception in the literature that normal stimulation is inferior to shear. From an ergonomic perspective normal stimulation has the potential to benefit upper limb amputees since it can operate at lower frequencies than shear-based vibrotactors while also generating less noise. Through further tuning of the novel haptic feedback scheme and normal stimulation device, a compact and comfortable sensory substitution

Optimal design of a new 3D haptic gripper for telemanipulation, featuring magnetorheological fluid brakes

International Nuclear Information System (INIS)

Nguyen, Q H; Choi, S B; Lee, Y S; Han, M S

2013-01-01

In this research work, a new configuration of a 3D haptic gripper for telemanipulation is proposed and optimally designed. The proposed haptic gripper, featuring three magnetorheological fluid brakes (MRBs), reflects the rolling torque, the grasping force and the approach force from the slave manipulator to the master operator. After describing the operational principle of the haptic gripper, an optimal design of the MRBs for the gripper is performed. The purpose of the optimization problem is to find the most compact MRB that can provide a required braking torque/force to the master operator while the off-state torque/force is kept as small as possible. In the optimal design, different types of MRBs and different MR fluids (MRFs) are considered. In order to obtain the optimal solution of the MRBs, an optimization approach based on finite element analysis (FEA) integrated with an optimization tool is used. The optimal solutions of the MRBs are then obtained and the optimized MRBs for the haptic gripper are identified. In addition, discussions on the optimal solutions and performance of the optimized MRBs are given. (paper)

Some Inequalities for the Lp-Curvature Image

Directory of Open Access Journals (Sweden)

Xiang Yu

2009-01-01

Full Text Available Lutwak introduced the notion of Lp-curvature image and proved an inequality for the volumes of convex body and its Lp-curvature image. In this paper, we first give an monotonic property of Lp-curvature image. Further, we establish two inequalities for the Lp-curvature image and its polar, respectively. Finally, an inequality for the volumes of Lp-projection body and Lp-curvature image is obtained.

Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit.

Science.gov (United States)

Morales, Jesús; Mandow, Anthony; Martínez, Jorge L; Reina, Antonio J; García-Cerezo, Alfonso

2013-04-03

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit

Directory of Open Access Journals (Sweden)

Antonio J. Reina

2013-04-01

Full Text Available Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

A haptic sensing upgrade for the current EOD robotic fleet

Science.gov (United States)

Rowe, Patrick

2014-06-01

The past decade and a half has seen a tremendous rise in the use of mobile manipulator robotic platforms for bomb inspection and disposal, explosive ordnance disposal, and other extremely hazardous tasks in both military and civilian settings. Skilled operators are able to control these robotic vehicles in amazing ways given the very limited situational awareness obtained from a few on-board camera views. Future generations of robotic platforms will, no doubt, provide some sort of additional force or haptic sensor feedback to further enhance the operator's interaction with the robot, especially when dealing with fragile, unstable, and explosive objects. Unfortunately, the robot operators need this capability today. This paper discusses an approach to provide existing (and future) robotic mobile manipulator platforms, with which trained operators are already familiar and highly proficient, this desired haptic and force feedback capability. The goals of this technology are to be rugged, reliable, and affordable. It should also be able to be applied to a wide range of existing robots with a wide variety of manipulator/gripper sizes and styles. Finally, the presentation of the haptic information to the operator is discussed, given the fact that control devices that physically interact with the operators are not widely available and still in the research stages.

Curvature bound from gravitational catalysis

Science.gov (United States)

Gies, Holger; Martini, Riccardo

2018-04-01

We determine bounds on the curvature of local patches of spacetime from the requirement of intact long-range chiral symmetry. The bounds arise from a scale-dependent analysis of gravitational catalysis and its influence on the effective potential for the chiral order parameter, as induced by fermionic fluctuations on a curved spacetime with local hyperbolic properties. The bound is expressed in terms of the local curvature scalar measured in units of a gauge-invariant coarse-graining scale. We argue that any effective field theory of quantum gravity obeying this curvature bound is safe from chiral symmetry breaking through gravitational catalysis and thus compatible with the simultaneous existence of chiral fermions in the low-energy spectrum. With increasing number of dimensions, the curvature bound in terms of the hyperbolic scale parameter becomes stronger. Applying the curvature bound to the asymptotic safety scenario for quantum gravity in four spacetime dimensions translates into bounds on the matter content of particle physics models.

Design of a New MR Compatible Haptic Interface with Six Actuated Degrees of Freedom

DEFF Research Database (Denmark)

Ergin, Mehmet Alper; Kühne, Markus; Thielscher, Axel

2014-01-01

Functional magnetic resonance imaging is an often adopted tool to study human motor control mechanisms. Highly controlled experiments as required by this form of analysis can be realized with haptic interfaces. Their design is challenging because of strong safety and MR compatibility requirements....... Existing MR-compatible haptic interfaces are restricted to maximum three actuated degrees of freedom. We propose an MR-compatible haptic interface with six actuated degrees of freedom to be able to study human brain mechanisms of natural pick-and-place movements including arm transport. In this work, we...... present its mechanical design, kinematic and dynamic model, as well as report on its model-based characterization. A novel hybrid control scheme for the employed ultrasonic motors is introduced. Preliminary MR compatibility tests based on one complete actuator-sensor module are performed. No measurable...

A Surgical Robot Teleoperation Framework for Providing Haptic Feedback Incorporating Virtual Envrioment-Based Guidance

Directory of Open Access Journals (Sweden)

Adnan Munawar

2016-08-01

Full Text Available In robot-assisted tele-operated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators that are controlled by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback would enhance the surgical procedures by enabling better coordination between the hand movements that are improved by the tactile sense of the operating environment. This research presents an overall control framework for a haptic feedback on existing robot platforms, and demonstrated on the daVinci Research Kit (dVRK system. The paper discusses the implementation of a flexible framework that incorporates a stiffness control with gravity compensation for the surgeons manipulator and a sensing and collision detection algorithm for calculating the interaction between the patients manipulators and the surgical area.

Feeling the beat where it counts: fostering multi-limb rhythm skills with the haptic drum kit

NARCIS (Netherlands)

Holland, S.; Bouwer, A.J.; Dalgleish, M.; Hurtig, T.M.

2010-01-01

This paper introduces a tool known as the Haptic Drum Kit, which employs four computer-controlled vibrotactile devices, one attached to each wrist and ankle. In the applications discussed here, haptic pulses are used to guide the playing, on a drum kit, of rhythmic patterns that require multi-limb

The C-Lever Project: Haptics for Automotive Applications

NARCIS (Netherlands)

Garcia Canseco, E.; Ayemlong Fokem, A.; Serrarens, A.F.A.; Steinbuch, M.; Stigter, H.

2010-01-01

The goal of this project is to research the effectiveness of a controlled haptic force feedback shift lever that can accurately reproduce the behavior of a manual gear shift during driving, and that can also be used to control interior and comfort functions in the car.

Adapting haptic guidance authority based on user grip

NARCIS (Netherlands)

Smisek, J.; Mugge, W.; Smeets, J.B.J.; Van Paassen, M.M.; Schiele, A

2014-01-01

Haptic guidance systems support the operator in task execution using additional forces on the input device. Scaling of the guidance forces determines the control authority of the support system. As task complexity may vary, one level of the guidance scaling may be insufficient, and adaptation of the

Contrast settling in cerebral aneurysm angiography

International Nuclear Information System (INIS)

Wang Zhijie; Hoffmann, Kenneth R; Guterman, Lee R; Wang Zhou; Rudin, Stephen; Meng Hui

2005-01-01

During angiography, blood flow is visualized with a radiopaque contrast agent, which is denser than blood. In complex vasculature, such as cerebral saccular aneurysms, the density difference may produce an appreciable gravity effect, where the contrast material separates from blood and settles along the gravity direction. Although contrast settling has been occasionally reported before, the fluid mechanics behind it have not been explored. Furthermore, the severity of contrast settling in cerebral aneurysms varies significantly from case to case. Therefore, a better understanding of the physical principles behind this phenomenon is needed to evaluate contrast settling in clinical angiography. In this study, flow in two identical groups of sidewall aneurysm models with varying parent-vessel curvature was examined by angiography. Intravascular stents were deployed into one group of the models. To detect contrast settling, we used lateral view angiography. Time-intensity curves were analysed from the angiographic data, and a computational fluid dynamic analysis was conducted. Results showed that contrast settling was strongly related to the local flow dynamics. We used the Froude number, a ratio of flow inertia to gravity force, to characterize the significance of gravity force. An aneurysm with a larger vessel curvature experienced higher flow, which resulted in a larger Froude number and, thus, less gravitational settling. Addition of a stent reduced the aneurysmal flow, thereby increasing the contrast settling. We found that contrast settling resulted in an elevated washout tail in the time-intensity curve. However, this signature is not unique to contrast settling. To determine whether contrast settling is present, a lateral view should be obtained in addition to the anteroposterior (AP) view routinely used clinically so as to rule out contrast settling and hence to enable a valid time-intensity curve analysis of blood flow in the aneurysm

Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery.

Science.gov (United States)

Deshpande, Nikhil; Chauhan, Manish; Pacchierotti, Claudio; Prattichizzo, Domenico; Caldwell, Darwin G; Mattos, Leonardo S

2016-08-01

In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientation, (ii) 1 open/close gripper DoF; and (iii) an integrated force/torque sensor for tissue grip-force measurement. The master device is a 7-DoF haptic interface which teleoperates the slave device, and provides haptic feedback in its gripper interface. The combination of the device and the surgeon interface replaces the manual, hand-held device providing easy-to-use and ergonomic tissue control, simplifying the surgical tasks. This makes the system suitable to real surgical scenarios in the operating room (OR). The performance of the system was analysed through the evaluation of teleoperation control and characterization of gripping force. The new system offers an overall positioning error of less than 400 μm demonstrating its safety and accuracy. Improved system precision, usability, and ergonomics point to the potential suitability of the device for the OR and its ability to advance haptic-feedback-enhanced transoral laser microsurgeries.

Sound Descriptions of Haptic Experiences of Art Work by Deafblind Cochlear Implant Users

Directory of Open Access Journals (Sweden)

Riitta Lahtinen

2018-05-01

Full Text Available Deafblind persons’ perception and experiences are based on their residual auditive and visual senses, and touch. Their haptic exploration, through movements and orientation towards objects give blind persons direct, independent experience. Few studies explore the aesthetic experiences and appreciation of artefacts of deafblind people using cochlear implant (CI technology, and how they interpret and express their perceived aesthetic experience through another sensory modality. While speech recognition is studied extensively in this area, the aspect of auditive descriptions made by CI users are a less-studied domain. This present research intervention describes and analyses five different deafblind people sharing their interpretation of five statues vocally, using sounds and written descriptions based on their haptic explorations. The participants found new and multimodal ways of expressing their experiences, as well as re-experiencing them through technological aids. We also found that the CI users modify technology to better suit their personal needs. We conclude that CI technology in combination with self-made sound descriptions enhance memorization of haptic art experiences that can be re-called by the recording of the sound descriptions. This research expands the idea of auditive descriptions, and encourages user-produced descriptions as artistic supports to traditional linguistic, audio descriptions. These can be used to create personal auditive–haptic memory collections similar to how sighted create photo albums.

Perceptual grouping affects haptic enumeration over the fingers

NARCIS (Netherlands)

Overvliet, K.E.; Plaisier, M.A.

2016-01-01

Spatial arrangement is known to influence enumeration times in vision. In haptic enumeration, it has been shown that dividing the total number of items over the two hands can speed up enumeration. Here we investigated how spatial arrangement of items and non-items presented to the individual fingers

The Use of Haptic Display Technology in Education

Science.gov (United States)

Barfield, Woodrow

2009-01-01

The experience of "virtual reality" can consist of head-tracked and stereoscopic virtual worlds, spatialized sound, haptic feedback, and to a lesser extent olfactory cues. Although virtual reality systems have been proposed for numerous applications, the field of education is one particular application that seems well-suited for virtual…

Surgical virtual reality - highlights in developing a high performance surgical haptic device.

Science.gov (United States)

Custură-Crăciun, D; Cochior, D; Constantinoiu, S; Neagu, C

2013-01-01

Just like simulators are a standard in aviation and aerospace sciences, we expect for surgical simulators to soon become a standard in medical applications. These will correctly instruct future doctors in surgical techniques without there being a need for hands on patient instruction. Using virtual reality by digitally transposing surgical procedures changes surgery in are volutionary manner by offering possibilities for implementing new, much more efficient, learning methods, by allowing the practice of new surgical techniques and by improving surgeon abilities and skills. Perfecting haptic devices has opened the door to a series of opportunities in the fields of research,industry, nuclear science and medicine. Concepts purely theoretical at first, such as telerobotics, telepresence or telerepresentation,have become a practical reality as calculus techniques, telecommunications and haptic devices evolved,virtual reality taking a new leap. In the field of surgery barrier sand controversies still remain, regarding implementation and generalization of surgical virtual simulators. These obstacles remain connected to the high costs of this yet fully sufficiently developed technology, especially in the domain of haptic devices. Celsius.

A remark about the mean curvature

International Nuclear Information System (INIS)

Zhang Weitao.

1992-11-01

In this paper, we give an integral identity about the mean curvature in Sobolev space H 0 1 (Ω) intersection H 2 (Ω). Suppose the mean curvature on Γ=δΩ is positive, we prove some inequalities of the positive mean curvature and propose some open problems. (author). 4 refs

A Taxonomy and Comparison of Haptic Actions for Disassembly Tasks

National Research Council Canada - National Science Library

Bloomfield, Aaron; Deng, Yu; Wampler, Jeff; Rondot, Pascale; Harth, Dina; McManus, Mary; Badler, Norman

2003-01-01

.... We conducted a series of human subject experiments to compare user performance and preference on a disassembly task with and without haptic feedback using CyberGlove, Phantom, and SpaceMouse interfaces...

Force Sensitive Handles and Capacitive Touch Sensor for Driving a Flexible Haptic-Based Immersive System

Directory of Open Access Journals (Sweden)

Umberto Cugini

2013-10-01

Full Text Available In this article, we present an approach that uses both two force sensitive handles (FSH and a flexible capacitive touch sensor (FCTS to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object. Specifically, the user interacts with the FSH to move the virtual object and to appropriately position the haptic interface for retrieving the six degrees of freedom required for both manipulation and modification modalities. The FCTS allows the system to track the movement and position of the user’s fingers on the strip, which is used for rendering visual and sound feedback. Two evaluation experiments are described, which involve both the evaluation and the modification of a 3D shape. Results show that the use of the haptic strip for the evaluation of aesthetic shapes is effective and supports product designers in the appreciation of the aesthetic qualities of the shape.

Force sensitive handles and capacitive touch sensor for driving a flexible haptic-based immersive system.

Science.gov (United States)

Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto

2013-10-09

In this article, we present an approach that uses both two force sensitive handles (FSH) and a flexible capacitive touch sensor (FCTS) to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object. Specifically, the user interacts with the FSH to move the virtual object and to appropriately position the haptic interface for retrieving the six degrees of freedom required for both manipulation and modification modalities. The FCTS allows the system to track the movement and position of the user's fingers on the strip, which is used for rendering visual and sound feedback. Two evaluation experiments are described, which involve both the evaluation and the modification of a 3D shape. Results show that the use of the haptic strip for the evaluation of aesthetic shapes is effective and supports product designers in the appreciation of the aesthetic qualities of the shape.

Haptic Human-Human Interaction Through a Compliant Connection Does Not Improve Motor Learning in a Force Field

NARCIS (Netherlands)

Beckers, Niek; Keemink, Arvid; van Asseldonk, Edwin; van der Kooij, Herman; Prattichizzo, Domenico; Shinoda, Hiroyuki; Tan, Hong Z.; Ruffaldi, Emanuele; Frisoli, Antonio

2018-01-01

Humans have a natural ability to haptically interact with other humans, for instance during physically assisting a child to learn how to ride a bicycle. A recent study has shown that haptic human-human interaction can improve individual motor performance and motor learning rate while learning to

Graphic and haptic simulation system for virtual laparoscopic rectum surgery.

Science.gov (United States)

Pan, Jun J; Chang, Jian; Yang, Xiaosong; Zhang, Jian J; Qureshi, Tahseen; Howell, Robert; Hickish, Tamas

2011-09-01

Medical simulators with vision and haptic feedback techniques offer a cost-effective and efficient alternative to the traditional medical trainings. They have been used to train doctors in many specialties of medicine, allowing tasks to be practised in a safe and repetitive manner. This paper describes a virtual-reality (VR) system which will help to influence surgeons' learning curves in the technically challenging field of laparoscopic surgery of the rectum. Data from MRI of the rectum and real operation videos are used to construct the virtual models. A haptic force filter based on radial basis functions is designed to offer realistic and smooth force feedback. To handle collision detection efficiently, a hybrid model is presented to compute the deformation of intestines. Finally, a real-time cutting technique based on mesh is employed to represent the incision operation. Despite numerous research efforts, fast and realistic solutions of soft tissues with large deformation, such as intestines, prove extremely challenging. This paper introduces our latest contribution to this endeavour. With this system, the user can haptically operate with the virtual rectum and simultaneously watch the soft tissue deformation. Our system has been tested by colorectal surgeons who believe that the simulated tactile and visual feedbacks are realistic. It could replace the traditional training process and effectively transfer surgical skills to novices. Copyright © 2011 John Wiley & Sons, Ltd.

The Effect of Trial-by-trial Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks

NARCIS (Netherlands)

de Jonge, A. W.; Wildenbeest, J. G. W.; Boessenkool, H.; Abbink, D. A.

2016-01-01

Haptic shared control can improve execution of teleoperation and driving tasks. However, shared control designs may suffer from conflicts between individual human operators and constant haptic assistance when their desired trajectories differ, leading to momentarily increased forces, discomfort or

Towards a standard on evaluation of tactile/haptic interactions

NARCIS (Netherlands)

Sinclair, I.; Carter, J.; Kassner, S.; Erp, J.B.F. van; Weber, G.; Elliott, L.; Andrew, I.

2012-01-01

Tactile and haptic interaction is becoming increasingly important; ergonomic standards can ensure that systems are designed with sufficient concern for ergonomics and interoperability. ISO (through working group TC159/SC4/WG9) is developing international standards in this subject area, dual-tracked

Listening to white noise counteracts visual and haptic pseudoneglect.

Science.gov (United States)

Cattaneo, Zaira; Lega, Carlotta; Vecchi, Tomaso; Vallar, Giuseppe

2012-01-01

Neurologically intact individuals usually show a leftward bias in line bisection, a tendency known as "pseudoneglect", likely reflecting a right-hemisphere dominance in controlling the allocation of spatial attention. Studies in brain-damaged patients with left visuospatial neglect have reported that auditory stimulation may reduce the deficit, both in a spatially dependent and in a spatially independent way. Here we show for the first time that the concurrent binaural presentation of auditory white noise affects healthy individuals' performance in both visual and haptic bisection, reducing their leftward error. We suggest that this effect depends on the noise boosting alertness and restoring the hemispheric activation balance. Our data clearly show that task-irrelevant auditory noise crossmodally affects the allocation of spatial resources in both the haptic and the visual space; future research may clarify whether these effects are specific for the type of auditory stimulation.

Discrete Curvature Theories and Applications

KAUST Repository

Sun, Xiang

2016-08-25

Discrete Di erential Geometry (DDG) concerns discrete counterparts of notions and methods in di erential geometry. This thesis deals with a core subject in DDG, discrete curvature theories on various types of polyhedral surfaces that are practically important for free-form architecture, sunlight-redirecting shading systems, and face recognition. Modeled as polyhedral surfaces, the shapes of free-form structures may have to satisfy di erent geometric or physical constraints. We study a combination of geometry and physics { the discrete surfaces that can stand on their own, as well as having proper shapes for the manufacture. These proper shapes, known as circular and conical meshes, are closely related to discrete principal curvatures. We study curvature theories that make such surfaces possible. Shading systems of freeform building skins are new types of energy-saving structures that can re-direct the sunlight. From these systems, discrete line congruences across polyhedral surfaces can be abstracted. We develop a new curvature theory for polyhedral surfaces equipped with normal congruences { a particular type of congruences de ned by linear interpolation of vertex normals. The main results are a discussion of various de nitions of normality, a detailed study of the geometry of such congruences, and a concept of curvatures and shape operators associated with the faces of a triangle mesh. These curvatures are compatible with both normal congruences and the Steiner formula. In addition to architecture, we consider the role of discrete curvatures in face recognition. We use geometric measure theory to introduce the notion of asymptotic cones associated with a singular subspace of a Riemannian manifold, which is an extension of the classical notion of asymptotic directions. We get a simple expression of these cones for polyhedral surfaces, as well as convergence and approximation theorems. We use the asymptotic cones as facial descriptors and demonstrate the

Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

Science.gov (United States)

Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

2008-01-01

This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

Selective attention modulates visual and haptic repetition priming: effects in aging and Alzheimer's disease.

Science.gov (United States)

Ballesteros, Soledad; Reales, José M; Mayas, Julia; Heller, Morton A

2008-08-01

In two experiments, we examined the effect of selective attention at encoding on repetition priming in normal aging and Alzheimer's disease (AD) patients for objects presented visually (experiment 1) or haptically (experiment 2). We used a repetition priming paradigm combined with a selective attention procedure at encoding. Reliable priming was found for both young adults and healthy older participants for visually presented pictures (experiment 1) as well as for haptically presented objects (experiment 2). However, this was only found for attended and not for unattended stimuli. The results suggest that independently of the perceptual modality, repetition priming requires attention at encoding and that perceptual facilitation is maintained in normal aging. However, AD patients did not show priming for attended stimuli, or for unattended visual or haptic objects. These findings suggest an early deficit of selective attention in AD. Results are discussed from a cognitive neuroscience approach.

Modeling and test of a kinaesthetic actuator based on MR fluid for haptic applications.

Science.gov (United States)

Yang, Tae-Heon; Koo, Jeong-Hoi; Kim, Sang-Youn; Kwon, Dong-Soo

2017-03-01

Haptic display units have been widely used for conveying button sensations to users, primarily employing vibrotactile actuators. However, the human feeling for pressing buttons mainly relies on kinaesthetic sensations (rather than vibrotactile sensations), and little studies exist on small-scale kinaesthetic haptic units. Thus, the primary goals of this paper are to design a miniature kinaesthetic actuator based on Magneto-Rheological (MR) fluid that can convey various button-clicking sensations and to experimentally evaluate its haptic performance. The design focuses of the proposed actuator were to produce sufficiently large actuation forces (resistive forces) for human users in a given size constraint and to offer a wide range of actuation forces for conveying vivid haptic sensations to users. To this end, this study first performed a series of parametric studies using mathematical force models for multiple operating modes of MR fluid in conjunction with finite element electromagnetism analysis. After selecting design parameters based on parametric studies, a prototype actuator was constructed, and its performance was evaluated using a dynamic mechanical analyzer. It measured the actuator's resistive force with a varying stroke (pressed depth) up to 1 mm and a varying input current from 0 A to 200 mA. The results show that the proposed actuator creates a wide range of resistive forces from around 2 N (off-state) to over 9.5 N at 200 mA. In order to assess the prototype's performance in the terms of the haptic application prospective, a maximum force rate was calculated to determine just noticeable difference in force changes for the 1 mm stoke of the actuator. The results show that the force rate is sufficient to mimic various levels of button sensations, indicating that the proposed kinaesthetic actuator can offer a wide range of resistive force changes that can be conveyed to human operators.

Curvature force and dark energy

International Nuclear Information System (INIS)

Balakin, Alexander B; Pavon, Diego; Schwarz, Dominik J; Zimdahl, Winfried

2003-01-01

A curvature self-interaction of the cosmic gas is shown to mimic a cosmological constant or other forms of dark energy, such as a rolling tachyon condensate or a Chaplygin gas. Any given Hubble rate and deceleration parameter can be traced back to the action of an effective curvature force on the gas particles. This force self-consistently reacts back on the cosmological dynamics. The links between an imperfect fluid description, a kinetic description with effective antifriction forces and curvature forces, which represent a non-minimal coupling of gravity to matter, are established

Design and control of MR haptic master/slave robot system for minimally invasive surgery

Science.gov (United States)

Uhm, Chang-Ho; Nguyen, Phoung Bac; Choi, Seung-Bok

2013-04-01

In this work, magnetorheological (MR) haptic master and slave robot for minimally invasive surgery (MIS) have been designed and tested. The proposed haptic master consists of four actuators; three MR brakes featuring gimbal structure for 3-DOF rotation motion(X, Y and Z axes) and one MR linear actuator for 1-DOF translational motion. The proposed slave robot which is connected with the haptic master has vertically multi- joints, and it consists of four DC servomotors; three for positioning endoscope and one for spinning motion. We added a fixed bar with a ball joint on the base of the slave for the endoscope position at the patient's abdomen to maintain safety. A gimbal structure at the end of the slave robotic arm for the last joint rotates freely with respect to the pivot point of the fixed bar. This master-slave system runs as if a teleoperation system through TCP/IP connection, programmed by LabVIEW. In order to achieve the desired position trajectory, a proportional-integral-derivative (PID) controller is designed and implemented. It has been demonstrated that the effective tracking control performances for the desired motion are well achieved and presented in time domain. At last, an experiment in virtual environments is undertaken to investigate the effectiveness of the MR haptic master device for MIS system.

Discriminating Tissue Stiffness with a Haptic Catheter: Feeling the Inside of the Beating Heart.

Science.gov (United States)

Kesner, Samuel B; Howe, Robert D

2011-01-01

Catheter devices allow physicians to access the inside of the human body easily and painlessly through natural orifices and vessels. Although catheters allow for the delivery of fluids and drugs, the deployment of devices, and the acquisition of the measurements, they do not allow clinicians to assess the physical properties of tissue inside the body due to the tissue motion and transmission limitations of the catheter devices, including compliance, friction, and backlash. The goal of this research is to increase the tactile information available to physicians during catheter procedures by providing haptic feedback during palpation procedures. To accomplish this goal, we have developed the first motion compensated actuated catheter system that enables haptic perception of fast moving tissue structures. The actuated catheter is instrumented with a distal tip force sensor and a force feedback interface that allows users to adjust the position of the catheter while experiencing the forces on the catheter tip. The efficacy of this device and interface is evaluated through a psychophyisical study comparing how accurately users can differentiate various materials attached to a cardiac motion simulator using the haptic device and a conventional manual catheter. The results demonstrate that haptics improves a user's ability to differentiate material properties and decreases the total number of errors by 50% over the manual catheter system.

New Gauss-Bonnet Black Holes with Curvature-Induced Scalarization in Extended Scalar-Tensor Theories.

Science.gov (United States)

Doneva, Daniela D; Yazadjiev, Stoytcho S

2018-03-30

In the present Letter, we consider a class of extended scalar-tensor-Gauss-Bonnet (ESTGB) theories for which the scalar degree of freedom is excited only in the extreme curvature regime. We show that in the mentioned class of ESTGB theories there exist new black-hole solutions that are formed by spontaneous scalarization of the Schwarzschild black holes in the extreme curvature regime. In this regime, below certain mass, the Schwarzschild solution becomes unstable and a new branch of solutions with a nontrivial scalar field bifurcates from the Schwarzschild one. As a matter of fact, more than one branch with a nontrivial scalar field can bifurcate at different masses, but only the first one is supposed to be stable. This effect is quite similar to the spontaneous scalarization of neutron stars. In contrast to the standard spontaneous scalarization of neutron stars, which is induced by the presence of matter, in our case, the scalarization is induced by the curvature of the spacetime.

One-Dimensional Haptic Rendering Using Audio Speaker with Displacement Determined by Inductance

Directory of Open Access Journals (Sweden)

Avin Khera

2016-03-01

Full Text Available We report overall design considerations and preliminary results for a new haptic rendering device based on an audio loudspeaker. Our application models tissue properties during microsurgery. For example, the device could respond to the tip of a tool by simulating a particular tissue, displaying a desired compressibility and viscosity, giving way as the tissue is disrupted, or exhibiting independent motion, such as that caused by pulsations in blood pressure. Although limited to one degree of freedom and with a relatively small range of displacement compared to other available haptic rendering devices, our design exhibits high bandwidth, low friction, low hysteresis, and low mass. These features are consistent with modeling interactions with delicate tissues during microsurgery. In addition, our haptic rendering device is designed to be simple and inexpensive to manufacture, in part through an innovative method of measuring displacement by existing variations in the speaker’s inductance as the voice coil moves over the permanent magnet. Low latency and jitter are achieved by running the real-time simulation models on a dedicated microprocessor, while maintaining bidirectional communication with a standard laptop computer for user controls and data logging.

Audio Haptic Videogaming for Developing Wayfinding Skills in Learners Who are Blind.

Science.gov (United States)

Sánchez, Jaime; de Borba Campos, Marcia; Espinoza, Matías; Merabet, Lotfi B

2014-01-01

Interactive digital technologies are currently being developed as a novel tool for education and skill development. Audiopolis is an audio and haptic based videogame designed for developing orientation and mobility (O&M) skills in people who are blind. We have evaluated the cognitive impact of videogame play on O&M skills by assessing performance on a series of behavioral tasks carried out in both indoor and outdoor virtual spaces. Our results demonstrate that the use of Audiopolis had a positive impact on the development and use of O&M skills in school-aged learners who are blind. The impact of audio and haptic information on learning is also discussed.

Haptic Control with a Robotic Gripper

OpenAIRE

Rody, Morgan

2011-01-01

The Novint Falcon is a low cost, 3-axis, haptic device primarily designed and built for the gaming industry. Meant to replace the conventional mouse, the Novint Falcon has sub- millimeter accuracy and is capable of real time updates. The device itself has the potential to be used in telerobotics applications when coupled with a robotic gripper for example. Recently, the Intelligent Control Lab at Örebro University in Sweden built such a robotic gripper. The robotic gripper has three fingers a...

Do vision and haptics share common representations? Implicit and explicit memory within and between modalities.

Science.gov (United States)

Easton, R D; Srinivas, K; Greene, A J

1997-01-01

Previous assessments of verbal cross-modal priming have typically been conducted with the visual and auditory modalities. Within-modal priming is always found to be substantially larger than cross-modal priming, a finding that could reflect modality modularity, or alternatively, differences between the coding of visual and auditory verbal information (i.e., geometric vs. phonological). The present experiments assessed implicit and explicit memory within and between vision and haptics, where verbal information could be coded in geometric terms. Because haptic perception of words is sequential or letter-by-letter, experiments were also conducted to isolate the effects of simultaneous versus sequential processing from the manipulation of modality. Together, the results reveal no effects of modality change on implicit or explicit tests. The authors discuss representational similarities between vision and haptics as well as image mediation as possible explanations for the results.

A Vehicle Haptic Steering by Wire System Based on High Gain GPI Observers

Directory of Open Access Journals (Sweden)

A. Rodriguez-Angeles

2014-01-01

Full Text Available A vehicle steering by wire (SBW haptic system based on high gain generalized proportional integral (GPI observers is introduced. The observers are considered for the estimation of dynamic perturbations that are present at the tire and steering wheel. To ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle, the estimated perturbations are on line canceled. As to provide a haptic interface with the driver, the estimated dynamic effects at the steering rack are fed back to the steering wheel, yielding a master-slave haptic system with bilateral communication. For implementation purposes few sensors and minimum knowledge of the dynamic model are required, which is a major advantage compared to other approaches. Only position tracking errors are fed back, while all other signals are estimated by the high gain GPI observers. The scheme is robust to uncertainty on the input gain and cancels dynamic perturbation effects such as friction and aligning forces on the tire. Experimental results are presented on a prototype platform.

Virtual reality haptic human dissection.

Science.gov (United States)

Needham, Caroline; Wilkinson, Caroline; Soames, Roger

2011-01-01

This project aims to create a three-dimensional digital model of the human hand and wrist which can be virtually 'dissected' through a haptic interface. Tissue properties will be added to the various anatomical structures to replicate a realistic look and feel. The project will explore the role of the medical artist and investigate the cross-discipline collaborations required in the field of virtual anatomy. The software will be used to train anatomy students in dissection skills before experience on a real cadaver. The effectiveness of the software will be evaluated and assessed both quantitatively as well as qualitatively.

Environmental influences on DNA curvature

DEFF Research Database (Denmark)

Ussery, David; Higgins, C.F.; Bolshoy, A.

1999-01-01

DNA curvature plays an important role in many biological processes. To study environmentalinfluences on DNA curvature we compared the anomalous migration on polyacrylamide gels ofligation ladders of 11 specifically-designed oligonucleotides. At low temperatures (25 degreesC and below) most......, whilst spermine enhanced theanomalous migration of a different set of sequences. Sequences with a GGC motif exhibitedgreater curvature than predicted by the presently-used angles for the nearest-neighbour wedgemodel and are especially sensitive to Mg2+. The data have implications for models...... for DNAcurvature and for environmentally-sensitive DNA conformations in the regulation of geneexpression....

Touch Is Everywhere: Floor Surfaces as Ambient Haptic Interfaces.

Science.gov (United States)

Visell, Y; Law, A; Cooperstock, J R

2009-01-01

Floor surfaces are notable for the diverse roles that they play in our negotiation of everyday environments. Haptic communication via floor surfaces could enhance or enable many computer-supported activities that involve movement on foot. In this paper, we discuss potential applications of such interfaces in everyday environments and present a haptically augmented floor component through which several interaction methods are being evaluated. We describe two approaches to the design of structured vibrotactile signals for this device. The first is centered on a musical phrase metaphor, as employed in prior work on tactile display. The second is based upon the synthesis of rhythmic patterns of virtual physical impact transients. We report on an experiment in which participants were able to identify communication units that were constructed from these signals and displayed via a floor interface at well above chance levels. The results support the feasibility of tactile information display via such interfaces and provide further indications as to how to effectively design vibrotactile signals for them.

A real-time haptic interface for interventional radiology procedures.

Science.gov (United States)

Moix, Thomas; Ilic, Dejan; Fracheboud, Blaise; Zoethout, Jurjen; Bleuler, Hannes

2005-01-01

Interventional Radiology (IR) is a minimally-invasive surgery technique (MIS) where guidewires and catheters are steered in the vascular system under X-ray imaging. In order to perform these procedures, a radiologist has to be correctly trained to master hand-eye coordination, instrument manipulation and procedure protocols. This paper proposes a computer-assisted training environment dedicated to IR. The system is composed of a virtual reality (VR) simulation of the anatomy of the patient linked to a robotic interface providing haptic force feedback.The paper focuses on the requirements, design and prototyping of a specific part of the haptic interface dedicated to catheters. Translational tracking and force feedback on the catheter is provided by two cylinders forming a friction drive arrangement. The whole friction can be set in rotation with an additional motor providing torque feedback. A force and a torque sensor are integrated in the cylinders for direct measurement on the catheter enabling disturbance cancellation with a close-loop force control strategy.

Haptic over visual information in the distribution of visual attention after tool-use in near and far space.

Science.gov (United States)

Park, George D; Reed, Catherine L

2015-10-01

Despite attentional prioritization for grasping space near the hands, tool-use appears to transfer attentional bias to the tool's end/functional part. The contributions of haptic and visual inputs to attentional distribution along a tool were investigated as a function of tool-use in near (Experiment 1) and far (Experiment 2) space. Visual attention was assessed with a 50/50, go/no-go, target discrimination task, while a tool was held next to targets appearing near the tool-occupied hand or tool-end. Target response times (RTs) and sensitivity (d-prime) were measured at target locations, before and after functional tool practice for three conditions: (1) open-tool: tool-end visible (visual + haptic inputs), (2) hidden-tool: tool-end visually obscured (haptic input only), and (3) short-tool: stick missing tool's length/end (control condition: hand occupied but no visual/haptic input). In near space, both open- and hidden-tool groups showed a tool-end, attentional bias (faster RTs toward tool-end) before practice; after practice, RTs near the hand improved. In far space, the open-tool group showed no bias before practice; after practice, target RTs near the tool-end improved. However, the hidden-tool group showed a consistent tool-end bias despite practice. Lack of short-tool group results suggested that hidden-tool group results were specific to haptic inputs. In conclusion, (1) allocation of visual attention along a tool due to tool practice differs in near and far space, and (2) visual attention is drawn toward the tool's end even when visually obscured, suggesting haptic input provides sufficient information for directing attention along the tool.

Haptic perception disambiguates visual perception of 3D shape

NARCIS (Netherlands)

Wijntjes, Maarten W A; Volcic, Robert; Pont, Sylvia C.; Koenderink, Jan J.; Kappers, Astrid M L

We studied the influence of haptics on visual perception of three-dimensional shape. Observers were shown pictures of an oblate spheroid in two different orientations. A gauge-figure task was used to measure their perception of the global shape. In the first two sessions only vision was used. The

Resident simulation training in endoscopic endonasal surgery utilizing haptic feedback technology.

Science.gov (United States)

Thawani, Jayesh P; Ramayya, Ashwin G; Abdullah, Kalil G; Hudgins, Eric; Vaughan, Kerry; Piazza, Matthew; Madsen, Peter J; Buch, Vivek; Sean Grady, M

2016-12-01

Simulated practice may improve resident performance in endoscopic endonasal surgery. Using the NeuroTouch haptic simulation platform, we evaluated resident performance and assessed the effect of simulation training on performance in the operating room. First- (N=3) and second- (N=3) year residents were assessed using six measures of proficiency. Using a visual analog scale, the senior author scored subjects. After the first session, subjects with lower scores were provided with simulation training. A second simulation served as a task-learning control. Residents were evaluated in the operating room over six months by the senior author-who was blinded to the trained/untrained identities-using the same parameters. A nonparametric bootstrap testing method was used for the analysis (Matlab v. 2014a). Simulation training was associated with an increase in performance scores in the operating room averaged over all measures (p=0.0045). This is the first study to evaluate the training utility of an endoscopic endonasal surgical task using a virtual reality haptic simulator. The data suggest that haptic simulation training in endoscopic neurosurgery may contribute to improvements in operative performance. Limitations include a small number of subjects and adjudication bias-although the trained/untrained identity of subjects was blinded. Further study using the proposed methods may better describe the relationship between simulated training and operative performance in endoscopic Neurosurgery. Copyright © 2016 Elsevier Ltd. All rights reserved.

Reducing the motor response in haptic parallel matching eliminates the typically observed gender difference.

Science.gov (United States)

van Mier, Hanneke I

2016-01-01

When making two bars haptically parallel to each other, large deviations have been observed, most likely caused by the bias of a hand-centered egocentric reference frame. A consistent finding is that women show significantly larger deviations than men when performing this task. It has been suggested that this difference might be due to the fact that women are more egocentrically oriented than men or are less efficient in overcoming the egocentric bias of the hand. If this is indeed the case, reducing the bias of the egocentric reference frame should eliminate the above-mentioned gender difference. This was investigated in the current study. Sixty participants (30 men, 30 women) were instructed to haptically match (task HP) the orientation of a test bar with the dominant hand to the orientation of a reference bar that was perceived with the non-dominant hand. In a haptic visual task (task HV), in which only the reference bar and exploring hand were out of view, no motor response was required, but participants had to "match" the perceived orientation by verbally naming the parallel orientation that was read out on a test protractor. Both females and males performed better in the HV task than in the HP task. Significant gender effects were only found in the haptic parallelity task (HP), corroborating the idea that women perform at the same level as men when the egocentric bias of the hand is reduced.

Manifolds of positive scalar curvature

Energy Technology Data Exchange (ETDEWEB)

Stolz, S [Department of Mathematics, University of Notre Dame, Notre Dame (United States)

2002-08-15

This lecture gives an survey on the problem of finding a positive scalar curvature metric on a closed manifold. The Gromov-Lawson-Rosenberg conjecture and its relation to the Baum-Connes conjecture are discussed and the problem of finding a positive Ricci curvature metric on a closed manifold is explained.

Frontoparietal white matter integrity predicts haptic performance in chronic stroke

Directory of Open Access Journals (Sweden)

Alexandra L. Borstad

2016-01-01

Full Text Available Frontoparietal white matter supports information transfer between brain areas involved in complex haptic tasks such as somatosensory discrimination. The purpose of this study was to gain an understanding of the relationship between microstructural integrity of frontoparietal network white matter and haptic performance in persons with chronic stroke and to compare frontoparietal network integrity in participants with stroke and age matched control participants. Nineteen individuals with stroke and 16 controls participated. Haptic performance was quantified using the Hand Active Sensation Test (HASTe, an 18-item match-to-sample test of weight and texture discrimination. Three tesla MRI was used to obtain diffusion-weighted and high-resolution anatomical images of the whole brain. Probabilistic tractography was used to define 10 frontoparietal tracts total; Four intrahemispheric tracts measured bilaterally 1 thalamus to primary somatosensory cortex (T–S1, 2 thalamus to primary motor cortex (T–M1, 3 primary to secondary somatosensory cortex (S1 to SII and 4 primary somatosensory cortex to middle frontal gyrus (S1 to MFG and, 2 interhemispheric tracts; S1–S1 and precuneus interhemispheric. A control tract outside the network, the cuneus interhemispheric tract, was also examined. The diffusion metrics fractional anisotropy (FA, mean diffusivity (MD, axial (AD and radial diffusivity (RD were quantified for each tract. Diminished FA and elevated MD values are associated with poorer white matter integrity in chronic stroke. Nine of 10 tracts quantified in the frontoparietal network had diminished structural integrity poststroke compared to the controls. The precuneus interhemispheric tract was not significantly different between groups. Principle component analysis across all frontoparietal white matter tract MD values indicated a single factor explained 47% and 57% of the variance in tract mean diffusivity in stroke and control groups respectively

Frontoparietal white matter integrity predicts haptic performance in chronic stroke.

Science.gov (United States)

Borstad, Alexandra L; Choi, Seongjin; Schmalbrock, Petra; Nichols-Larsen, Deborah S

2016-01-01

Frontoparietal white matter supports information transfer between brain areas involved in complex haptic tasks such as somatosensory discrimination. The purpose of this study was to gain an understanding of the relationship between microstructural integrity of frontoparietal network white matter and haptic performance in persons with chronic stroke and to compare frontoparietal network integrity in participants with stroke and age matched control participants. Nineteen individuals with stroke and 16 controls participated. Haptic performance was quantified using the Hand Active Sensation Test (HASTe), an 18-item match-to-sample test of weight and texture discrimination. Three tesla MRI was used to obtain diffusion-weighted and high-resolution anatomical images of the whole brain. Probabilistic tractography was used to define 10 frontoparietal tracts total; Four intrahemispheric tracts measured bilaterally 1) thalamus to primary somatosensory cortex (T-S1), 2) thalamus to primary motor cortex (T-M1), 3) primary to secondary somatosensory cortex (S1 to SII) and 4) primary somatosensory cortex to middle frontal gyrus (S1 to MFG) and, 2 interhemispheric tracts; S1-S1 and precuneus interhemispheric. A control tract outside the network, the cuneus interhemispheric tract, was also examined. The diffusion metrics fractional anisotropy (FA), mean diffusivity (MD), axial (AD) and radial diffusivity (RD) were quantified for each tract. Diminished FA and elevated MD values are associated with poorer white matter integrity in chronic stroke. Nine of 10 tracts quantified in the frontoparietal network had diminished structural integrity poststroke compared to the controls. The precuneus interhemispheric tract was not significantly different between groups. Principle component analysis across all frontoparietal white matter tract MD values indicated a single factor explained 47% and 57% of the variance in tract mean diffusivity in stroke and control groups respectively. Age

Neodymium:YAG laser cutting of intraocular lens haptics.

Science.gov (United States)

Gorn, R A; Steinert, R F

1985-11-01

Neodymium:YAG laser cutting of polymethylmethacrylate and polypropylene anterior chamber and posterior chamber intraocular lens haptics was studied in terms of ease of transection and physical structure of the cut areas as seen by scanning electron microscopy. A marked difference was discovered, with the polymethylmethacrylate cutting easily along transverse planes, whereas the polypropylene resisted cutting along longitudinal fibers. Clinical guidelines are presented.

Real-time solution of the forward kinematics for a parallel haptic device using a numerical approach based on neural networks

International Nuclear Information System (INIS)

Liu, Guan Yang; Zhang, Yuru; Wang, Yan; Xie, Zheng

2015-01-01

This paper proposes a neural network (NN)-based approach to solve the forward kinematics of a 3-RRR spherical parallel mechanism designed for a haptic device. The proposed algorithm aims to remarkably speed up computation to meet the requirement of high frequency rendering for haptic display. To achieve high accuracy, the workspace of the haptic device is divided into smaller subspaces. The proposed algorithm contains NNs of two different precision levels: a rough estimation NN to identify the index of the subspace and several precise estimation networks with expected accuracy to calculate the forward kinematics. For continuous motion, the algorithm structure is further simplified to save internal memory and increase computing speed, which are critical for a haptic device control system running on an embedded platform. Compared with the mostly used Newton-Raphson method, the proposed algorithm and its simplified version greatly increase the calculation speed by about four times and 10 times, respectively, while achieving the same accuracy level. The proposed approach is of great significance for solving the forward kinematics of parallel mechanism used as haptic devices when high update frequency is needed but hardware resources are limited.

An MR-Compatible Haptic Interface With Seven Degrees of Freedom

DEFF Research Database (Denmark)

Kuhne, Markus; Eschelbach, Martin; Aghaeifar, Ali

2018-01-01

Functional magnetic resonance imaging (fMRI) is a powerful tool for neuroscience. It allows the visualization of active areas in the human brain. Combining this method with haptic interfaces allows one to conduct human motor control studies with an opportunity for standardized experimental...

Right thoracic curvature in the normal spine

Directory of Open Access Journals (Sweden)

Masuda Keigo

2011-01-01

Full Text Available Abstract Background Trunk asymmetry and vertebral rotation, at times observed in the normal spine, resemble the characteristics of adolescent idiopathic scoliosis (AIS. Right thoracic curvature has also been reported in the normal spine. If it is determined that the features of right thoracic side curvature in the normal spine are the same as those observed in AIS, these findings might provide a basis for elucidating the etiology of this condition. For this reason, we investigated right thoracic curvature in the normal spine. Methods For normal spinal measurements, 1,200 patients who underwent a posteroanterior chest radiographs were evaluated. These consisted of 400 children (ages 4-9, 400 adolescents (ages 10-19 and 400 adults (ages 20-29, with each group comprised of both genders. The exclusion criteria were obvious chest and spinal diseases. As side curvature is minimal in normal spines and the range at which curvature is measured is difficult to ascertain, first the typical curvature range in scoliosis patients was determined and then the Cobb angle in normal spines was measured using the same range as the scoliosis curve, from T5 to T12. Right thoracic curvature was given a positive value. The curve pattern was organized in each collective three groups: neutral (from -1 degree to 1 degree, right (> +1 degree, and left ( Results In child group, Cobb angle in left was 120, in neutral was 125 and in right was 155. In adolescent group, Cobb angle in left was 70, in neutral was 114 and in right was 216. In adult group, Cobb angle in left was 46, in neutral was 102 and in right was 252. The curvature pattern shifts to the right side in the adolescent group (p Conclusions Based on standing chest radiographic measurements, a right thoracic curvature was observed in normal spines after adolescence.

Conceptual Design of Haptic-Feedback Navigation Device for Individuals with Alzheimer's Disease.

Science.gov (United States)

Che Me, Rosalam; Biamonti, Alessandro; Mohd Saad, Mohd Rashid

2015-01-01

Wayfinding ability in older adults with Alzheimer's disease (AD) is progressively impaired due to ageing and deterioration of cognitive domains. Usually, the sense of direction is deteriorated as visuospatial and spatial cognition are associated with the sensory acuity. Therefore, navigation systems that support only visual interactions may not be appropriate in case of AD. This paper presents a concept of wearable navigation device that integrates the haptic-feedback technology to facilitate the wayfinding of individuals with AD. The system provides the simplest instructions; left/right using haptic signals, as to avoid users' distraction during navigation. The advantages of haptic/tactile modality for wayfinding purpose based on several significant studies are presented. As preliminary assessment, a survey is conducted to understand the potential of this design concept in terms of (1) acceptability, (2) practicality, (3) wearability, and (4) environmental settings. Results indicate that the concept is highly acceptable and commercially implementable. A working prototype will be developed based on the results of the preliminary assessment. Introducing a new method of navigation should be followed by continuous practices for familiarization purpose. Improved navigability allows the good performance of activities of daily living (ADLs) hence maintain the good quality of life in older adults with AD.

Design and Evaluation of Shape-Changing Haptic Interfaces for Pedestrian Navigation Assistance.

Science.gov (United States)

Spiers, Adam J; Dollar, Aaron M

2017-01-01

Shape-changing interfaces are a category of device capable of altering their form in order to facilitate communication of information. In this work, we present a shape-changing device that has been designed for navigation assistance. 'The Animotus' (previously, 'The Haptic Sandwich' ), resembles a cube with an articulated upper half that is able to rotate and extend (translate) relative to the bottom half, which is fixed in the user's grasp. This rotation and extension, generally felt via the user's fingers, is used to represent heading and proximity to navigational targets. The device is intended to provide an alternative to screen or audio based interfaces for visually impaired, hearing impaired, deafblind, and sighted pedestrians. The motivation and design of the haptic device is presented, followed by the results of a navigation experiment that aimed to determine the role of each device DOF, in terms of facilitating guidance. An additional device, 'The Haptic Taco', which modulated its volume in response to target proximity (negating directional feedback), was also compared. Results indicate that while the heading (rotational) DOF benefited motion efficiency, the proximity (translational) DOF benefited velocity. Combination of the two DOF improved overall performance. The volumetric Taco performed comparably to the Animotus' extension DOF.

Modeling Auditory-Haptic Interface Cues from an Analog Multi-line Telephone

Science.gov (United States)

Begault, Durand R.; Anderson, Mark R.; Bittner, Rachael M.

2012-01-01

The Western Electric Company produced a multi-line telephone during the 1940s-1970s using a six-button interface design that provided robust tactile, haptic and auditory cues regarding the "state" of the communication system. This multi-line telephone was used as a model for a trade study comparison of two interfaces: a touchscreen interface (iPad)) versus a pressure-sensitive strain gauge button interface (Phidget USB interface controllers). The experiment and its results are detailed in the authors' AES 133rd convention paper " Multimodal Information Management: Evaluation of Auditory and Haptic Cues for NextGen Communication Dispays". This Engineering Brief describes how the interface logic, visual indications, and auditory cues of the original telephone were synthesized using MAX/MSP, including the logic for line selection, line hold, and priority line activation.

Cortical activation patterns during long-term memory retrieval of visually or haptically encoded objects and locations.

Science.gov (United States)

Stock, Oliver; Röder, Brigitte; Burke, Michael; Bien, Siegfried; Rösler, Frank

2009-01-01

The present study used functional magnetic resonance imaging to delineate cortical networks that are activated when objects or spatial locations encoded either visually (visual encoding group, n=10) or haptically (haptic encoding group, n=10) had to be retrieved from long-term memory. Participants learned associations between auditorily presented words and either meaningless objects or locations in a 3-D space. During the retrieval phase one day later, participants had to decide whether two auditorily presented words shared an association with a common object or location. Thus, perceptual stimulation during retrieval was always equivalent, whereas either visually or haptically encoded object or location associations had to be reactivated. Moreover, the number of associations fanning out from each word varied systematically, enabling a parametric increase of the number of reactivated representations. Recall of visual objects predominantly activated the left superior frontal gyrus and the intraparietal cortex, whereas visually learned locations activated the superior parietal cortex of both hemispheres. Retrieval of haptically encoded material activated the left medial frontal gyrus and the intraparietal cortex in the object condition, and the bilateral superior parietal cortex in the location condition. A direct test for modality-specific effects showed that visually encoded material activated more vision-related areas (BA 18/19) and haptically encoded material more motor and somatosensory-related areas. A conjunction analysis identified supramodal and material-unspecific activations within the medial and superior frontal gyrus and the superior parietal lobe including the intraparietal sulcus. These activation patterns strongly support the idea that code-specific representations are consolidated and reactivated within anatomically distributed cell assemblies that comprise sensory and motor processing systems.

HapTip: Displaying Haptic Shear Forces at the Fingertips for Multi-Finger Interaction in Virtual Environments

Directory of Open Access Journals (Sweden)

Adrien eGirard

2016-04-01

Full Text Available The fingertips are one of the most important and sensitive parts of our body.They are the first stimulated areas of the hand when we interact with our environment.Providing haptic feedback to the fingertips in virtual reality could thus drastically improve perception and interaction with virtual environments.In this paper, we present a modular approach called HapTip to display such haptic sensations at the level of the fingertips.This approach relies on a wearable and compact haptic device able to simulate 2 Degree of Freedom (DoF shear forces on the fingertip with a displacement range of +/- 2 mm. Several modules can be added and used jointly in order to address multi-finger and/or bimanual scenarios in virtual environments.For that purpose, we introduce several haptic rendering techniques to cover different cases of 3D interaction such as touching a rough virtual surface, or feeling the inertia or weight of a virtual object.In order to illustrate the possibilities offered by HapTip, we provide four use cases focused on touching or grasping virtual objects.To validate the efficiency of our approach, we also conducted experiments to assess the tactile perception obtained with HapTip.Our results show that participants can successfully discriminate the directions of the 2 DoF stimulation of our haptic device.We found also that participants could well perceive different weights of virtual objects simulated using two HapTip devices. We believe that HapTip could be used in numerous applications in virtual reality for which 3D manipulation and tactile sensations are often crucial, such as in virtual prototyping or virtual training.

Differences between early-blind, late-blind, and blindfolded-sighted people in haptic spatial-configuration learning and resulting memory traces.

Science.gov (United States)

Postma, Albert; Zuidhoek, Sander; Noordzij, Matthijs L; Kappers, Astrid M L

2007-01-01

The roles of visual and haptic experience in different aspects of haptic processing of objects in peripersonal space are examined. In three trials, early-blind, late-blind, and blindfolded-sighted individuals had to match ten shapes haptically to the cut-outs in a board as fast as possible. Both blind groups were much faster than the sighted in all three trials. All three groups improved considerably from trial to trial. In particular, the sighted group showed a strong improvement from the first to the second trial. While superiority of the blind remained for speeded matching after rotation of the stimulus frame, coordinate positional-memory scores in a non-speeded free-recall trial showed no significant differences between the groups. Moreover, when assessed with a verbal response, categorical spatial-memory appeared strongest in the late-blind group. The role of haptic and visual experience thus appears to depend on the task aspect tested.

Haptic rendering foundations, algorithms, and applications

CERN Document Server

Lin, Ming C

2008-01-01

For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments. This book provides an authoritative overview of state-of-theart haptic rendering algorithms and their applications. The authors examine various approaches and techniques for designing touch-enabled interfaces for a number of applications, including medical training, model design, and maintainability analysis for virtual prototyping, scienti

Haptic seat for fuel economy feedback

Energy Technology Data Exchange (ETDEWEB)

Bobbitt, III, John Thomas

2016-08-30

A process of providing driver fuel economy feedback is disclosed in which vehicle sensors provide for haptic feedback on fuel usage. Such sensors may include one or more of a speed sensors, global position satellite units, vehicle pitch/roll angle sensors, suspension displacement sensors, longitudinal accelerometer sensors, throttle position in sensors, steering angle sensors, break pressure sensors, and lateral accelerometer sensors. Sensors used singlely or collectively can provide enhanced feedback as to various environmental conditions and operating conditions such that a more accurate assessment of fuel economy information can be provided to the driver.

Lack of transfer of skills after virtual reality simulator training with haptic feedback.

Science.gov (United States)

Våpenstad, Cecilie; Hofstad, Erlend Fagertun; Bø, Lars Eirik; Kuhry, Esther; Johnsen, Gjermund; Mårvik, Ronald; Langø, Thomas; Hernes, Toril Nagelhus

2017-12-01

Virtual reality (VR) simulators enrich surgical training and offer training possibilities outside of the operating room (OR). In this study, we created a criterion-based training program on a VR simulator with haptic feedback and tested it by comparing the performances of a simulator group against a control group. Medical students with no experience in laparoscopy were randomly assigned to a simulator group or a control group. In the simulator group, the candidates trained until they reached predefined criteria on the LapSim ® VR simulator (Surgical Science AB, Göteborg, Sweden) with haptic feedback (Xitact TM IHP, Mentice AB, Göteborg, Sweden). All candidates performed a cholecystectomy on a porcine organ model in a box trainer (the clinical setting). The performances were video rated by two surgeons blinded to subject training status. In total, 30 students performed the cholecystectomy and had their videos rated (N = 16 simulator group, N = 14 control group). The control group achieved better video rating scores than the simulator group (p training program did not transfer skills to the clinical setting. Poor mechanical performance of the simulated haptic feedback is believed to have resulted in a negative training effect.

Using postural synergies to animate a low-dimensional hand avatar in haptic simulation.

Science.gov (United States)

Mulatto, Sara; Formaglio, Alessandro; Malvezzi, Monica; Prattichizzo, Domenico

2013-01-01

A technique to animate a realistic hand avatar with 20 DoFs based on the biomechanics of the human hand is presented. The animation does not use any sensor glove or advanced tracker with markers. The proposed approach is based on the knowledge of a set of kinematic constraints on the model of the hand, referred to as postural synergies, which allows to represent the hand posture using a number of variables lower than the number of joints of the hand model. This low-dimensional set of parameters is estimated from direct measurement of the motion of thumb and index finger tracked using two haptic devices. A kinematic inversion algorithm has been developed, which takes synergies into account and estimates the kinematic configuration of the whole hand, i.e., also of the fingers whose end tips are not directly tracked by the two haptic devices. The hand skin is deformable and its deformation is computed using a linear vertex blending technique. The proposed synergy-based animation of the hand avatar involves only algebraic computations and is suitable for real-time implementation as required in haptics.

Integration of soft tissue model and open haptic device for medical training simulator

Science.gov (United States)

Akasum, G. F.; Ramdhania, L. N.; Suprijanto; Widyotriatmo, A.

2016-03-01

Minimally Invasive Surgery (MIS) has been widely used to perform any surgical procedures nowadays. Currently, MIS has been applied in some cases in Indonesia. Needle insertion is one of simple MIS procedure that can be used for some purposes. Before the needle insertion technique used in the real situation, it essential to train this type of medical student skills. The research has developed an open platform of needle insertion simulator with haptic feedback that providing the medical student a realistic feel encountered during the actual procedures. There are three main steps in build the training simulator, which are configure hardware system, develop a program to create soft tissue model and the integration of hardware and software. For evaluating its performance, haptic simulator was tested by 24 volunteers on a scenario of soft tissue model. Each volunteer must insert the needle on simulator until rearch the target point with visual feedback that visualized on the monitor. From the result it can concluded that the soft tissue model can bring the sensation of touch through the perceived force feedback on haptic actuator by looking at the different force in accordance with different stiffness in each layer.

Efficient Cross-Modal Transfer of Shape Information in Visual and Haptic Object Categorization

Directory of Open Access Journals (Sweden)

Nina Gaissert

2011-10-01

Full Text Available Categorization has traditionally been studied in the visual domain with only a few studies focusing on the abilities of the haptic system in object categorization. During the first years of development, however, touch and vision are closely coupled in the exploratory procedures used by the infant to gather information about objects. Here, we investigate how well shape information can be transferred between those two modalities in a categorization task. Our stimuli consisted of amoeba-like objects that were parametrically morphed in well-defined steps. Participants explored the objects in a categorization task either visually or haptically. Interestingly, both modalities led to similar categorization behavior suggesting that similar shape processing might occur in vision and haptics. Next, participants received training on specific categories in one of the two modalities. As would be expected, training increased performance in the trained modality; however, we also found significant transfer of training to the other, untrained modality after only relatively few training trials. Taken together, our results demonstrate that complex shape information can be transferred efficiently across the two modalities, which speaks in favor of multisensory, higher-level representations of shape.

Slave-side devices for micromanipulation in a haptic teleoperation scenario

NARCIS (Netherlands)

Estevez Castillo, P.

2012-01-01

Haptic teleoperation is a promising approach for dealing with the manipulation of micro-objects, fabricated in small series or as prototypes, and in processes which are novel or uncertain. Human operators provide their ability to plan, understand and react when faced with unexpected situations

Audio-haptic physically-based simulation of walking on different grounds

DEFF Research Database (Denmark)

Turchet, Luca; Nordahl, Rolf; Serafin, Stefania

2010-01-01

We describe a system which simulates in realtime the auditory and haptic sensations of walking on different surfaces. The system is based on a pair of sandals enhanced with pressure sensors and actuators. The pressure sensors detect the interaction force during walking, and control several...

Curvature and torsion in growing actin networks

International Nuclear Information System (INIS)

Shaevitz, Joshua W; Fletcher, Daniel A

2008-01-01

Intracellular pathogens such as Listeria monocytogenes and Rickettsia rickettsii move within a host cell by polymerizing a comet-tail of actin fibers that ultimately pushes the cell forward. This dense network of cross-linked actin polymers typically exhibits a striking curvature that causes bacteria to move in gently looping paths. Theoretically, tail curvature has been linked to details of motility by considering force and torque balances from a finite number of polymerizing filaments. Here we track beads coated with a prokaryotic activator of actin polymerization in three dimensions to directly quantify the curvature and torsion of bead motility paths. We find that bead paths are more likely to have low rather than high curvature at any given time. Furthermore, path curvature changes very slowly in time, with an autocorrelation decay time of 200 s. Paths with a small radius of curvature, therefore, remain so for an extended period resulting in loops when confined to two dimensions. When allowed to explore a three-dimensional (3D) space, path loops are less evident. Finally, we quantify the torsion in the bead paths and show that beads do not exhibit a significant left- or right-handed bias to their motion in 3D. These results suggest that paths of actin-propelled objects may be attributed to slow changes in curvature, possibly associated with filament debranching, rather than a fixed torque

The value of haptic feedback in conventional and robot-assisted minimal invasive surgery and virtual reality training: a current review

NARCIS (Netherlands)

van der Meijden, O. A. J.; Schijven, M. P.

2009-01-01

BACKGROUND: Virtual reality (VR) as surgical training tool has become a state-of-the-art technique in training and teaching skills for minimally invasive surgery (MIS). Although intuitively appealing, the true benefits of haptic (VR training) platforms are unknown. Many questions about haptic

Force Sensitive Handles and Capacitive Touch Sensor for Driving a Flexible Haptic-Based Immersive System

OpenAIRE

Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto

2013-01-01

In this article, we present an approach that uses both two force sensitive handles (FSH) and a flexible capacitive touch sensor (FCTS) to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object...

Object discrimination using optimized multi-frequency auditory cross-modal haptic feedback.

Science.gov (United States)

Gibson, Alison; Artemiadis, Panagiotis

2014-01-01

As the field of brain-machine interfaces and neuro-prosthetics continues to grow, there is a high need for sensor and actuation mechanisms that can provide haptic feedback to the user. Current technologies employ expensive, invasive and often inefficient force feedback methods, resulting in an unrealistic solution for individuals who rely on these devices. This paper responds through the development, integration and analysis of a novel feedback architecture where haptic information during the neural control of a prosthetic hand is perceived through multi-frequency auditory signals. Through representing force magnitude with volume and force location with frequency, the feedback architecture can translate the haptic experiences of a robotic end effector into the alternative sensory modality of sound. Previous research with the proposed cross-modal feedback method confirmed its learnability, so the current work aimed to investigate which frequency map (i.e. frequency-specific locations on the hand) is optimal in helping users distinguish between hand-held objects and tasks associated with them. After short use with the cross-modal feedback during the electromyographic (EMG) control of a prosthetic hand, testing results show that users are able to use audial feedback alone to discriminate between everyday objects. While users showed adaptation to three different frequency maps, the simplest map containing only two frequencies was found to be the most useful in discriminating between objects. This outcome provides support for the feasibility and practicality of the cross-modal feedback method during the neural control of prosthetics.

The development of a haptic virtual reality environment to study body image and affect.

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Tremblay, Line; Bouchard, Stephane; Chebbi, Brahim; Wei, Lai; Monthuy-Blanc, Johana; Boulanger, Dominic

2013-01-01

We report the results of a preliminary study testing the effect of participants' mood rating on visual motor performance using a haptic device to manipulate a cartoonish human body. Our results suggest that moods involving high arousal (e.g. happiness) produce larger movements whereas mood involving low arousal (e.g. sadness) produce slower speed of performance. Our results are used for the development of a new haptic virtual reality application that we briefly present here. This application is intended to create a more interactive and motivational environment to treat body image issues and for emotional communication.

Intelligent Avatar on E-Learning Using Facial Expression an Haptic

Directory of Open Access Journals (Sweden)

Ahmad Hoirul Basori

2011-04-01

Full Text Available he process of introducing emotion can be improved through three-dimensional (3D tutoring system. The problem that still not solved is how to provide realistic tutor (avatar in virtual environment. This paper propose an approach to teach children on understanding emotion sensation through facial expression and sense of touch (haptic.The algorithm is created by calculating constant factor (f based on maximum value of RGB and magnitude force then magnitude force range will be associated into particular colour. The Integration process will be started from rendering the facial expression then followed by adjusting the vibration power to emotion value. The result that achieved on experiment, it show around 71% students agree with the classification of magnitude force into emotion representation. Respondents commented that high magnitude force create similar sensation when respondents feel anger, while low magnitude force is more relaxing to respondents. Respondents also said that haptic and facial expression is very interactive and realistic.

Haptic, Virtual Interaction and Motor Imagery: Entertainment Tools and Psychophysiological Testing

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Sara Invitto

2016-03-01

Full Text Available In this work, the perception of affordances was analysed in terms of cognitive neuroscience during an interactive experience in a virtual reality environment. In particular, we chose a virtual reality scenario based on the Leap Motion controller: this sensor device captures the movements of the user’s hand and fingers, which are reproduced on a computer screen by the proper software applications. For our experiment, we employed a sample of 10 subjects matched by age and sex and chosen among university students. The subjects took part in motor imagery training and immersive affordance condition (a virtual training with Leap Motion and a haptic training with real objects. After each training sessions the subject performed a recognition task, in order to investigate event-related potential (ERP components. The results revealed significant differences in the attentional components during the Leap Motion training. During Leap Motion session, latencies increased in the occipital lobes, which are entrusted to visual sensory; in contrast, latencies decreased in the frontal lobe, where the brain is mainly activated for attention and action planning.

Haptic, Virtual Interaction and Motor Imagery: Entertainment Tools and Psychophysiological Testing.

Science.gov (United States)

Invitto, Sara; Faggiano, Chiara; Sammarco, Silvia; De Luca, Valerio; De Paolis, Lucio T

2016-03-18

In this work, the perception of affordances was analysed in terms of cognitive neuroscience during an interactive experience in a virtual reality environment. In particular, we chose a virtual reality scenario based on the Leap Motion controller: this sensor device captures the movements of the user's hand and fingers, which are reproduced on a computer screen by the proper software applications. For our experiment, we employed a sample of 10 subjects matched by age and sex and chosen among university students. The subjects took part in motor imagery training and immersive affordance condition (a virtual training with Leap Motion and a haptic training with real objects). After each training sessions the subject performed a recognition task, in order to investigate event-related potential (ERP) components. The results revealed significant differences in the attentional components during the Leap Motion training. During Leap Motion session, latencies increased in the occipital lobes, which are entrusted to visual sensory; in contrast, latencies decreased in the frontal lobe, where the brain is mainly activated for attention and action planning.

Haptic, Virtual Interaction and Motor Imagery: Entertainment Tools and Psychophysiological Testing

Science.gov (United States)

Invitto, Sara; Faggiano, Chiara; Sammarco, Silvia; De Luca, Valerio; De Paolis, Lucio T.

2016-01-01

In this work, the perception of affordances was analysed in terms of cognitive neuroscience during an interactive experience in a virtual reality environment. In particular, we chose a virtual reality scenario based on the Leap Motion controller: this sensor device captures the movements of the user’s hand and fingers, which are reproduced on a computer screen by the proper software applications. For our experiment, we employed a sample of 10 subjects matched by age and sex and chosen among university students. The subjects took part in motor imagery training and immersive affordance condition (a virtual training with Leap Motion and a haptic training with real objects). After each training sessions the subject performed a recognition task, in order to investigate event-related potential (ERP) components. The results revealed significant differences in the attentional components during the Leap Motion training. During Leap Motion session, latencies increased in the occipital lobes, which are entrusted to visual sensory; in contrast, latencies decreased in the frontal lobe, where the brain is mainly activated for attention and action planning. PMID:26999151

Collineations of the curvature tensor in general relativity

Indian Academy of Sciences (India)

Curvature collineations for the curvature tensor, constructed from a fundamental Bianchi Type-V metric, are studied. We are concerned with a symmetry property of space-time which is called curvature collineation, and we briefly discuss the physical and kinematical properties of the models.

Image Structure-Preserving Denoising Based on Difference Curvature Driven Fractional Nonlinear Diffusion

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Xuehui Yin

2015-01-01

Full Text Available The traditional integer-order partial differential equations and gradient regularization based image denoising techniques often suffer from staircase effect, speckle artifacts, and the loss of image contrast and texture details. To address these issues, in this paper, a difference curvature driven fractional anisotropic diffusion for image noise removal is presented, which uses two new techniques, fractional calculus and difference curvature, to describe the intensity variations in images. The fractional-order derivatives information of an image can deal well with the textures of the image and achieve a good tradeoff between eliminating speckle artifacts and restraining staircase effect. The difference curvature constructed by the second order derivatives along the direction of gradient of an image and perpendicular to the gradient can effectively distinguish between ramps and edges. Fourier transform technique is also proposed to compute the fractional-order derivative. Experimental results demonstrate that the proposed denoising model can avoid speckle artifacts and staircase effect and preserve important features such as curvy edges, straight edges, ramps, corners, and textures. They are obviously superior to those of traditional integral based methods. The experimental results also reveal that our proposed model yields a good visual effect and better values of MSSIM and PSNR.

Enhancing Mediated Interpersonal Communication through Affective Haptics

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Tsetserukou, Dzmitry; Neviarouskaya, Alena; Prendinger, Helmut; Kawakami, Naoki; Ishizuka, Mitsuru; Tachi, Susumu

Driven by the motivation to enhance emotionally immersive experience of real-time messaging in 3D virtual world Second Life, we are proposing a conceptually novel approach to reinforcing (intensifying) own feelings and reproducing (simulating) the emotions felt by the partner through specially designed system, iFeel_IM!. In the paper we are describing the development of novel haptic devices (HaptiHeart, HaptiHug, HaptiTickler, HaptiCooler, and HaptiWarmer) integrated into iFeel_IM! system, which architecture is presented in detail.

Longitudinal surface curvature effect in magnetohydrodynamics

International Nuclear Information System (INIS)

Bodas, N.G.

1975-01-01

The two-dimensional motion of an incompressible and electrically conducting fluid past an electrically insulated body surface (having curvature) is studied for a given O(1) basic flow and magnetic field, when (i) the applied magnetic field is aligned with the velocity in the basic flow, and (ii) the applied magnetic field is within the body surface. 01 and 0(Re sup(1/2)) mean the first and second order approximations respectively in an exansion scheme in powers of Resup(-1/2), Re being the Reynolds number). The technique of matched asymptotic expansions is used to solve the problem. The governing partial differential equations to 0(Resup(-1/2)) boundary layer approximation are found to give similarity solutions for a family of surface curvature and pressure gradient distributions in case (i), and for uniform basic flow with analytic surface curvature distributions in case (ii). The equations are solved numerically. In case (i) it is seen that the effect of the magnetic field on the skin-friction- correction due to the curvature is very small. Also the magnetic field at the wall is reduced by the curvature on the convex side. In case (ii) the magnetic field significantly increases the skin-friction-correction due to the curvature. The effect of the magnetic field on the O(1) and O(Resup(-1/2)) skin friction coefficients increases with the increase of the electrical conductivity of the fluid. Also, at higher values of the magnetic pressure, moderate changes in the electrical conductivity do not influence the correction to the skin-friction significantly. (Auth.)

Straight-line string with curvature

International Nuclear Information System (INIS)

Solov'ev, L.D.

1995-01-01

Classical and quantum solutions for the relativistic straight-line string with arbitrary dependence on the world surface curvature are obtained. They differ from the case of the usual Nambu-Goto interaction by the behaviour of the Regge trajectory which in general can be non-linear. A regularization of the action is considered and a comparison with relativistic point with curvature is made. 5 refs

Comparison of two metrological approaches for the prediction of human haptic perception

Science.gov (United States)

Neumann, Annika; Frank, Daniel; Vondenhoff, Thomas; Schmitt, Robert

2016-06-01

Haptic perception is regarded as a key component of customer appreciation and acceptance for various products. The prediction of customers’ haptic perception is of interest both during product development and production phases. This paper presents the results of a multivariate analysis between perceived roughness and texture related surface measurements, to examine whether perceived roughness can be accurately predicted using technical measurements. Studies have shown that standardized measurement parameters, such as the roughness coefficients (e.g. Rz or Ra), do not show a one-dimensional linear correlation with the human perception (of roughness). Thus, an alternative measurement method was compared to standard measurements of roughness, in regard to its capability of predicting perceived roughness through technical measurements. To estimate perceived roughness, an experimental study was conducted in which 102 subjects evaluated four sets of 12 different geometrical surface structures regarding their relative perceived roughness. The two different metrological procedures were examined in relation to their capability to predict the perceived roughness of the subjects stated within the study. The standardized measurements of the surface roughness were made using a structured light 3D-scanner. As an alternative method, surface induced vibrations were measured by a finger-like sensor during robot-controlled traverse over a surface. The presented findings provide a better understanding of the predictability of human haptic perception using technical measurements.

Curvature of random walks and random polygons in confinement

International Nuclear Information System (INIS)

Diao, Y; Ernst, C; Montemayor, A; Ziegler, U

2013-01-01

The purpose of this paper is to study the curvature of equilateral random walks and polygons that are confined in a sphere. Curvature is one of several basic geometric properties that can be used to describe random walks and polygons. We show that confinement affects curvature quite strongly, and in the limit case where the confinement diameter equals the edge length the unconfined expected curvature value doubles from π/2 to π. To study curvature a simple model of an equilateral random walk in spherical confinement in dimensions 2 and 3 is introduced. For this simple model we derive explicit integral expressions for the expected value of the total curvature in both dimensions. These expressions are functions that depend only on the radius R of the confinement sphere. We then show that the values obtained by numeric integration of these expressions agrees with numerical average curvature estimates obtained from simulations of random walks. Finally, we compare the confinement effect on curvature of random walks with random polygons. (paper)

Neurosurgical tactile discrimination training with haptic-based virtual reality simulation.

Science.gov (United States)

Patel, Achal; Koshy, Nick; Ortega-Barnett, Juan; Chan, Hoi C; Kuo, Yong-Fan; Luciano, Cristian; Rizzi, Silvio; Matulyauskas, Martin; Kania, Patrick; Banerjee, Pat; Gasco, Jaime

2014-12-01

To determine if a computer-based simulation with haptic technology can help surgical trainees improve tactile discrimination using surgical instruments. Twenty junior medical students participated in the study and were randomized into two groups. Subjects in Group A participated in virtual simulation training using the ImmersiveTouch simulator (ImmersiveTouch, Inc., Chicago, IL, USA) that required differentiating the firmness of virtual spheres using tactile and kinesthetic sensation via haptic technology. Subjects in Group B did not undergo any training. With their visual fields obscured, subjects in both groups were then evaluated on their ability to use the suction and bipolar instruments to find six elastothane objects with areas ranging from 1.5 to 3.5 cm2 embedded in a urethane foam brain cavity model while relying on tactile and kinesthetic sensation only. A total of 73.3% of the subjects in Group A (simulation training) were able to find the brain cavity objects in comparison to 53.3% of the subjects in Group B (no training) (P  =  0.0183). There was a statistically significant difference in the total number of Group A subjects able to find smaller brain cavity objects (size ≤ 2.5 cm2) compared to that in Group B (72.5 vs. 40%, P  =  0.0032). On the other hand, no significant difference in the number of subjects able to detect larger objects (size ≧ 3 cm2) was found between Groups A and B (75 vs. 80%, P  =  0.7747). Virtual computer-based simulators with integrated haptic technology may improve tactile discrimination required for microsurgical technique.

The curvature calculation mechanism based on simple cell model.

Science.gov (United States)

Yu, Haiyang; Fan, Xingyu; Song, Aiqi

2017-07-20

A conclusion has not yet been reached on how exactly the human visual system detects curvature. This paper demonstrates how orientation-selective simple cells can be used to construct curvature-detecting neural units. Through fixed arrangements, multiple plurality cells were constructed to simulate curvature cells with a proportional output to their curvature. In addition, this paper offers a solution to the problem of narrow detection range under fixed resolution by selecting an output value under multiple resolution. Curvature cells can be treated as concrete models of an end-stopped mechanism, and they can be used to further understand "curvature-selective" characteristics and to explain basic psychophysical findings and perceptual phenomena in current studies.

Figure/Ground Segmentation via a Haptic Glance: Attributing Initial Finger Contacts to Objects or Their Supporting Surfaces.

Science.gov (United States)

Pawluk, D; Kitada, R; Abramowicz, A; Hamilton, C; Lederman, S J

2011-01-01

The current study addresses the well-known "figure/ground" problem in human perception, a fundamental topic that has received surprisingly little attention from touch scientists to date. Our approach is grounded in, and directly guided by, current knowledge concerning the nature of haptic processing. Given inherent figure/ground ambiguity in natural scenes and limited sensory inputs from first contact (a "haptic glance"), we consider first whether people are even capable of differentiating figure from ground (Experiments 1 and 2). Participants were required to estimate the strength of their subjective impression that they were feeling an object (i.e., figure) as opposed to just the supporting structure (i.e., ground). Second, we propose a tripartite factor classification scheme to further assess the influence of kinetic, geometric (Experiments 1 and 2), and material (Experiment 2) factors on haptic figure/ground segmentation, complemented by more open-ended subjective responses obtained at the end of the experiment. Collectively, the results indicate that under certain conditions it is possible to segment figure from ground via a single haptic glance with a reasonable degree of certainty, and that all three factor classes influence the estimated likelihood that brief, spatially distributed fingertip contacts represent contact with an object and/or its background supporting structure.

Motor skills, haptic perception and social abilities in children with mild speech disorders.

Science.gov (United States)

Müürsepp, Iti; Aibast, Herje; Gapeyeva, Helena; Pääsuke, Mati

2012-02-01

The aim of the study was to evaluate motor skills, haptic object recognition and social interaction in 5-year-old children with mild specific expressive language impairment (expressive-SLI) and articulation disorder (AD) in comparison of age- and gender matched healthy children. Twenty nine children (23 boys and 6 girls) with expressive-SLI, 27 children (20 boys and 7 girls) with AD and 30 children (23 boys and 7 girls) with typically developing language as controls participated in our study. The children were examined for manual dexterity, ball skills, static and dynamic balance by M-ABC test, haptic object recognition and for social interaction by questionnaire completed by teachers. Children with mild expressive-SLI demonstrated significantly poorer results in all subtests of motor skills (psocial interaction (p0.05) in measured parameters between children with AD and controls. Children with expressive-SLI performed considerably poorer compared to AD group in balance subtest (psocial interaction are considerably more affected than in children with AD. Although motor difficulties in speech production are prevalent in AD, it is localised and does not involve children's general motor skills, haptic perception or social interaction. Copyright © 2011 The Japanese Society of Child Neurology. Published by Elsevier B.V. All rights reserved.

The Effect of Haptic Guidance on Learning a Hybrid Rhythmic-Discrete Motor Task.

Science.gov (United States)

Marchal-Crespo, Laura; Bannwart, Mathias; Riener, Robert; Vallery, Heike

2015-01-01

Bouncing a ball with a racket is a hybrid rhythmic-discrete motor task, combining continuous rhythmic racket movements with discrete impact events. Rhythmicity is exceptionally important in motor learning, because it underlies fundamental movements such as walking. Studies suggested that rhythmic and discrete movements are governed by different control mechanisms at different levels of the Central Nervous System. The aim of this study is to evaluate the effect of fixed/fading haptic guidance on learning to bounce a ball to a desired apex in virtual reality with varying gravity. Changing gravity changes dominance of rhythmic versus discrete control: The higher the value of gravity, the more rhythmic the task; lower values reduce the bouncing frequency and increase dwell times, eventually leading to a repetitive discrete task that requires initiation and termination, resembling target-oriented reaching. Although motor learning in the ball-bouncing task with varying gravity has been studied, the effect of haptic guidance on learning such a hybrid rhythmic-discrete motor task has not been addressed. We performed an experiment with thirty healthy subjects and found that the most effective training condition depended on the degree of rhythmicity: Haptic guidance seems to hamper learning of continuous rhythmic tasks, but it seems to promote learning for repetitive tasks that resemble discrete movements.

Soft Robotic Haptic Interface with Variable Stiffness for Rehabilitation of Neurologically Impaired Hand Function

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Frederick Sebastian

2017-12-01

Full Text Available The human hand comprises complex sensorimotor functions that can be impaired by neurological diseases and traumatic injuries. Effective rehabilitation can bring the impaired hand back to a functional state because of the plasticity of the central nervous system to relearn and remodel the lost synapses in the brain. Current rehabilitation therapies focus on strengthening motor skills, such as grasping, employ multiple objects of varying stiffness so that affected persons can experience a wide range of strength training. These devices have limited range of stiffness due to the rigid mechanisms employed in their variable stiffness actuators. This paper presents a novel soft robotic haptic device for neuromuscular rehabilitation of the hand, which is designed to offer adjustable stiffness and can be utilized in both clinical and home settings. The device eliminates the need for multiple objects by employing a pneumatic soft structure made with highly compliant materials that act as the actuator of the haptic interface. It is made with interchangeable sleeves that can be customized to include materials of varying stiffness to increase the upper limit of the stiffness range. The device is fabricated using existing 3D printing technologies, and polymer molding and casting techniques, thus keeping the cost low and throughput high. The haptic interface is linked to either an open-loop system that allows for an increased pressure during usage or closed-loop system that provides pressure regulation in accordance to the stiffness the user specifies. Preliminary evaluation is performed to characterize the effective controllable region of variance in stiffness. It was found that the region of controllable stiffness was between points 3 and 7, where the stiffness appeared to plateau with each increase in pressure. The two control systems are tested to derive relationships between internal pressure, grasping force exertion on the surface, and displacement using

Multimodality with Eye tracking and Haptics: A New Horizon for Serious Games?

Directory of Open Access Journals (Sweden)

Shujie Deng

2014-10-01

Full Text Available The goal of this review is to illustrate the emerging use of multimodal virtual reality that can benefit learning-based games. The review begins with an introduction to multimodal virtual reality in serious games and we provide a brief discussion of why cognitive processes involved in learning and training are enhanced under immersive virtual environments. We initially outline studies that have used eye tracking and haptic feedback independently in serious games, and then review some innovative applications that have already combined eye tracking and haptic devices in order to provide applicable multimodal frameworks for learning-based games. Finally, some general conclusions are identified and clarified in order to advance current understanding in multimodal serious game production as well as exploring possible areas for new applications.

Design and evaluation of a Flight Envelope Protection haptic feedback system

NARCIS (Netherlands)

Ellerbroek, J.; Rodriguez Martin, M.J.M.; Lombaerts, T; van Paassen, M.M.; Mulder, M.

2016-01-01

This paper describes the design and evaluation of a shared control, haptic feedback system to communicate Flight Envelope Protection System intent. The concept uses a combination of stiffness feedback and vibration to communicate proximity of the aircraft state to flight envelope boundaries. In

Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots

NARCIS (Netherlands)

Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

2012-01-01

This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master

Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.

Science.gov (United States)

Son, Hyoung Il; Franchi, Antonio; Chuang, Lewis L; Kim, Junsuk; Bulthoff, Heinrich H; Giordano, Paolo Robuffo

2013-04-01

In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.

Open Touch/Sound Maps: A system to convey street data through haptic and auditory feedback

Science.gov (United States)

Kaklanis, Nikolaos; Votis, Konstantinos; Tzovaras, Dimitrios

2013-08-01

The use of spatial (geographic) information is becoming ever more central and pervasive in today's internet society but the most of it is currently inaccessible to visually impaired users. However, access in visual maps is severely restricted to visually impaired and people with blindness, due to their inability to interpret graphical information. Thus, alternative ways of a map's presentation have to be explored, in order to enforce the accessibility of maps. Multiple types of sensory perception like touch and hearing may work as a substitute of vision for the exploration of maps. The use of multimodal virtual environments seems to be a promising alternative for people with visual impairments. The present paper introduces a tool for automatic multimodal map generation having haptic and audio feedback using OpenStreetMap data. For a desired map area, an elevation map is being automatically generated and can be explored by touch, using a haptic device. A sonification and a text-to-speech (TTS) mechanism provide also audio navigation information during the haptic exploration of the map.

Evolution of the curvature perturbations during warm inflation

International Nuclear Information System (INIS)

Matsuda, Tomohiro

2009-01-01

This paper considers warm inflation as an interesting application of multi-field inflation. Delta-N formalism is used for the calculation of the evolution of the curvature perturbations during warm inflation. Although the perturbations considered in this paper are decaying after the horizon exit, the corrections to the curvature perturbations sourced by these perturbations can remain and dominate the curvature perturbations at large scales. In addition to the typical evolution of the curvature perturbations, inhomogeneous diffusion rate is considered for warm inflation, which may lead to significant non-Gaussianity of the spectrum

Weyl tensors for asymmetric complex curvatures

International Nuclear Information System (INIS)

Oliveira, C.G.

Considering a second rank Hermitian field tensor and a general Hermitian connection the associated complex curvature tensor is constructed. The Weyl tensor that corresponds to this complex curvature is determined. The formalism is applied to the Weyl unitary field theory and to the Moffat gravitational theory. (Author) [pt

Relative Contribution of Haptic Technology to Assessment and Training in Implantology

Directory of Open Access Journals (Sweden)

David Joseph

2014-01-01

Full Text Available Background. The teaching of implant surgery, as in other medical disciplines, is currently undergoing a particular evolution. Aim of the Study. To assess the usefulness of haptic device, a simulator for learning and training to accomplish basic acts in implant surgery. Materials and Methods. A total of 60 people including 40 third-year dental students without knowledge in implantology (divided into 2 groups: 20 beginners and 20 experiencing a simulator training course and 20 experienced practitioners (experience in implantology >15 implants participated in this study. A basic exercise drill was proposed to the three groups to assess their gestural abilities. Results. The results of the group training with the simulator tended to be significantly close to those of the experienced operators. Conclusion. Haptic simulator brings a real benefit in training for implant surgery. Long-term benefit and more complex exercises should be evaluated.

Curvature constraints from the causal entropic principle

International Nuclear Information System (INIS)

Bozek, Brandon; Albrecht, Andreas; Phillips, Daniel

2009-01-01

Current cosmological observations indicate a preference for a cosmological constant that is drastically smaller than what can be explained by conventional particle physics. The causal entropic principle (Bousso et al.) provides an alternative approach to anthropic attempts to predict our observed value of the cosmological constant by calculating the entropy created within a causal diamond. We have extended this work to use the causal entropic principle to predict the preferred curvature within the 'multiverse'. We have found that values larger than ρ k =40ρ m are disfavored by more than 99.99% peak value at ρ Λ =7.9x10 -123 and ρ k =4.3ρ m for open universes. For universes that allow only positive curvature or both positive and negative curvature, we find a correlation between curvature and dark energy that leads to an extended region of preferred values. Our universe is found to be disfavored to an extent depending on the priors on curvature. We also provide a comparison to previous anthropic constraints on open universes and discuss future directions for this work.

Role of curvatures in determining the characteristics of a string vibrating against a doubly curved obstacle

Science.gov (United States)

Singh, Harkirat; Wahi, Pankaj

2017-08-01

The motion of a string in the presence of a doubly curved obstacle is investigated. A mathematical model has been developed for a general shape of the obstacle. However, detailed analysis has been performed for a shape relevant to the Indian stringed musical instruments like Tanpura and Sitar. In particular, we explore the effect of obstacle's curvature in the plane perpendicular to the string axis on its motion. This geometrical feature of the obstacle introduces a coupling between motions in mutually perpendicular directions over and above the coupling due to the stretching nonlinearity. We find that only one planar motion is possible for our system. Small amplitude planar motions are stable to perturbations in the perpendicular direction resulting in non-whirling motions while large amplitude oscillations lead to whirling motions. The critical amplitude of oscillations, across which there is a transition in the qualitative behavior of the non-planar trajectories, is determined using Floquet theory. Our analysis reveals that a small obstacle curvature in a direction perpendicular to the string axis leads to a considerable reduction in the critical amplitudes required for initiation of whirling motions. Hence, this obstacle curvature has a destabilizing effect on the planar motions in contrast to the curvature along the string axis which stabilizes planar motions.

3D face recognition with asymptotic cones based principal curvatures

KAUST Repository

Tang, Yinhang

2015-05-01

The classical curvatures of smooth surfaces (Gaussian, mean and principal curvatures) have been widely used in 3D face recognition (FR). However, facial surfaces resulting from 3D sensors are discrete meshes. In this paper, we present a general framework and define three principal curvatures on discrete surfaces for the purpose of 3D FR. These principal curvatures are derived from the construction of asymptotic cones associated to any Borel subset of the discrete surface. They describe the local geometry of the underlying mesh. First two of them correspond to the classical principal curvatures in the smooth case. We isolate the third principal curvature that carries out meaningful geometric shape information. The three principal curvatures in different Borel subsets scales give multi-scale local facial surface descriptors. We combine the proposed principal curvatures with the LNP-based facial descriptor and SRC for recognition. The identification and verification experiments demonstrate the practicability and accuracy of the third principal curvature and the fusion of multi-scale Borel subset descriptors on 3D face from FRGC v2.0.

3D face recognition with asymptotic cones based principal curvatures

KAUST Repository

Tang, Yinhang; Sun, Xiang; Huang, Di; Morvan, Jean-Marie; Wang, Yunhong; Chen, Liming

2015-01-01

The classical curvatures of smooth surfaces (Gaussian, mean and principal curvatures) have been widely used in 3D face recognition (FR). However, facial surfaces resulting from 3D sensors are discrete meshes. In this paper, we present a general framework and define three principal curvatures on discrete surfaces for the purpose of 3D FR. These principal curvatures are derived from the construction of asymptotic cones associated to any Borel subset of the discrete surface. They describe the local geometry of the underlying mesh. First two of them correspond to the classical principal curvatures in the smooth case. We isolate the third principal curvature that carries out meaningful geometric shape information. The three principal curvatures in different Borel subsets scales give multi-scale local facial surface descriptors. We combine the proposed principal curvatures with the LNP-based facial descriptor and SRC for recognition. The identification and verification experiments demonstrate the practicability and accuracy of the third principal curvature and the fusion of multi-scale Borel subset descriptors on 3D face from FRGC v2.0.

Robust estimation of adaptive tensors of curvature by tensor voting.

Science.gov (United States)

Tong, Wai-Shun; Tang, Chi-Keung

2005-03-01

Although curvature estimation from a given mesh or regularly sampled point set is a well-studied problem, it is still challenging when the input consists of a cloud of unstructured points corrupted by misalignment error and outlier noise. Such input is ubiquitous in computer vision. In this paper, we propose a three-pass tensor voting algorithm to robustly estimate curvature tensors, from which accurate principal curvatures and directions can be calculated. Our quantitative estimation is an improvement over the previous two-pass algorithm, where only qualitative curvature estimation (sign of Gaussian curvature) is performed. To overcome misalignment errors, our improved method automatically corrects input point locations at subvoxel precision, which also rejects outliers that are uncorrectable. To adapt to different scales locally, we define the RadiusHit of a curvature tensor to quantify estimation accuracy and applicability. Our curvature estimation algorithm has been proven with detailed quantitative experiments, performing better in a variety of standard error metrics (percentage error in curvature magnitudes, absolute angle difference in curvature direction) in the presence of a large amount of misalignment noise.

Real-time haptic cutting of high-resolution soft tissues.

Science.gov (United States)

Wu, Jun; Westermann, Rüdiger; Dick, Christian

2014-01-01

We present our systematic efforts in advancing the computational performance of physically accurate soft tissue cutting simulation, which is at the core of surgery simulators in general. We demonstrate a real-time performance of 15 simulation frames per second for haptic soft tissue cutting of a deformable body at an effective resolution of 170,000 finite elements. This is achieved by the following innovative components: (1) a linked octree discretization of the deformable body, which allows for fast and robust topological modifications of the simulation domain, (2) a composite finite element formulation, which thoroughly reduces the number of simulation degrees of freedom and thus enables to carefully balance simulation performance and accuracy, (3) a highly efficient geometric multigrid solver for solving the linear systems of equations arising from implicit time integration, (4) an efficient collision detection algorithm that effectively exploits the composition structure, and (5) a stable haptic rendering algorithm for computing the feedback forces. Considering that our method increases the finite element resolution for physically accurate real-time soft tissue cutting simulation by an order of magnitude, our technique has a high potential to significantly advance the realism of surgery simulators.

A haptic unit designed for magnetic-resonance-guided biopsy.

Science.gov (United States)

Tse, Z T H; Elhawary, H; Rea, M; Young, I; Davis, B L; Lamperth, M

2009-02-01

The magnetic fields present in the magnetic resonance (MR) environment impose severe constraints on any mechatronic device present in its midst, requiring alternative actuators, sensors, and materials to those conventionally used in traditional system engineering. In addition the spatial constraints of closed-bore scanners require a physical separation between the radiologist and the imaged region of the patient. This configuration produces a loss of the sense of touch from the target anatomy for the clinician, which often provides useful information. To recover the force feedback from the tissue, an MR-compatible haptic unit, designed to be integrated with a five-degrees-of-freedom mechatronic system for MR-guided prostate biopsy, has been developed which incorporates position control and force feedback to the operator. The haptic unit is designed to be located inside the scanner isocentre with the master console in the control room. MR compatibility of the device has been demonstrated, showing a negligible degradation of the signal-to-noise ratio and virtually no geometric distortion. By combining information from the position encoder and force sensor, tissue stiffness measurement along the needle trajectory is demonstrated in a lamb liver to aid diagnosis of suspected cancerous tissue.

Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

Science.gov (United States)

Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

2000-01-01

For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an

Higher-order curvature terms and extended inflation

International Nuclear Information System (INIS)

Wang Yun

1990-01-01

We consider higher-order curvature terms in context of the Brans-Dicke theory of gravity, and investigate the effects of these terms on extended inflationary theories. We find that the higher-order curvature terms tend to speed up inflation, although the original extended-inflation solutions are stable when these terms are small. Analytical solutions are found for two extreme cases: when the higher-order curvature terms are small, and when they dominate. A conformal transformation is employed in solving the latter case, and some of the subtleties in this technique are discussed. We note that percolation is less likely to occur when the higher-order curvature terms are present. An upper bound on α is expected if we are to avoid excessive and inadequate percolation of true-vacuum bubbles

The "Haptic Finger"- a new device for monitoring skin condition.

Science.gov (United States)

Tanaka, Mami; Lévêque, Jean Luc; Tagami, Hachiro; Kikuchi, Katsuko; Chonan, Seifi

2003-05-01

Touching the skin is of great importance for the Clinician for assessing roughness, softness, firmness, etc. This type of clinical assessment is very subjective and therefore non-reproducible from one Clinician to another one or even from time to time for the same Clinician. In order to objectively monitor skin texture, we developed a new sensor, placed directly on the Clinician's finger, which generate some electric signal when slid over the skin surface. The base of this Haptic Finger sensor is a thin stainless steel plate on which sponge rubber, PVDF foil, acetate film and gauze are layered. The signal generated by the sensor was filtered and digitally stored before processing. In a first in vitro experiment, the sensor was moved over different skin models (sponge rubber covered by silicon rubber) of varying hardness and roughness. These experiments allowed the definition of two parameters characterizing textures. The first parameter is variance of the signal processed using wavelet analysis, representing an index of roughness. The second parameter is dispersion of the power spectrum density in the frequency domain, corresponding to hardness. To validate these parameters, the Haptic Finger was used to scan skin surfaces of 30 people, 14 of whom displayed a skin disorder: xerosis (n = 5), atopic dermatitis (n = 7), and psoriasis (n = 2). The results obtained by means of the sensor were compared with subjective, clinical evaluations by a Clinician who scored both roughness and hardness of the skin. Good agreement was observed between clinical assessment of the skin and the two parameters generated using the Haptic Finger. Use of this sensor could prove extremely valuable in cosmetic research where skin surface texture (in terms of tactile properties) is difficult to measure.

Haptics using a smart material for eyes-free interaction in personal devices

Science.gov (United States)

Wang, Huihui; Lane, William Brian; Pappas, Devin; Duque, Bryam; Leong, John

2014-03-01

In this paper we present a prototype using a dry ionic polymer metal composite (IPMC) in interactive personal devices such as bracelet, necklace, pocket key chain or mobile devices for haptic interaction when audio or visual feedback is not possible or practical. This prototype interface is an electro-mechanical system that realizes a shape-changing haptic display for information communication. A dry IPMC will change its dimensions due to the electrostatic effect when an electrical potential is provided to them. The IPMC can operate at a lower voltage (less than 2.5V) which is compatible with requirements for personal electrical devices or mobile devices. The prototype consists of the addressable arrays of the IPMCs with different dimensions which are deformable to different shapes with proper handling or customization. 3D printing technology will be used to form supporting parts. Microcontrollers (about 3cm square) from DigiKey will be imbedded into this personal device. An Android based mobile APP will be developed to talk with microcontrollers to control IPMCs. When personal devices receive information signals, the original shape of the prototype will change to another shape related to the specific sender or types of information sources. This interactive prototype can simultaneously realize multiple methods for conveying haptic information such as dimension, force, and texture due to the flexible array design. We conduct several studies of user experience to explore how users' respond to shape change information.

On the design of a miniature haptic ring for cutaneous force feedback using shape memory alloy actuators

Science.gov (United States)

Hwang, Donghyun; Lee, Jaemin; Kim, Keehoon

2017-10-01

This paper proposes a miniature haptic ring that can display touch/pressure and shearing force to the user’s fingerpad. For practical use and wider application of the device, it is developed with the aim of achieving high wearability and mobility/portability as well as cutaneous force feedback functionality. A main body of the device is designed as a ring-shaped lightweight structure with a simple driving mechanism, and thin shape memory alloy (SMA) wires having high energy density are applied as actuating elements. Also, based on a band-type wireless control unit including a wireless data communication module, the whole device could be realized as a wearable mobile haptic device system. These features enable the device to take diverse advantages on functional performances and to provide users with significant usability. In this work, the proposed miniature haptic ring is systematically designed, and its working performances are experimentally evaluated with a fabricated functional prototype. The experimental results obviously demonstrate that the proposed device exhibits higher force-to-weight ratio than conventional finger-wearable haptic devices for cutaneous force feedback. Also, it is investigated that operational performances of the device are strongly influenced by electro-thermomechanical behaviors of the SMA actuator. In addition to the experiments for performance evaluation, we conduct a preliminary user test to assess practical feasibility and usability based on user’s qualitative feedback.

A remote handling rate-position controller for telemanipulating in a large workspace

International Nuclear Information System (INIS)

Barrio, Jorge; Ferre, Manuel; Suárez-Ruiz, Francisco; Aracil, Rafael

2014-01-01

This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task

A remote handling rate-position controller for telemanipulating in a large workspace

Energy Technology Data Exchange (ETDEWEB)

Barrio, Jorge, E-mail: jordi.barrio@upm.es; Ferre, Manuel, E-mail: m.ferre@upm.es; Suárez-Ruiz, Francisco, E-mail: fa.suarez@upm.es; Aracil, Rafael, E-mail: rafael.aracil@upm.es

2014-01-15

This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task.

Constraining inverse curvature gravity with supernovae

Energy Technology Data Exchange (ETDEWEB)

Mena, Olga; Santiago, Jose; /Fermilab; Weller, Jochen; /University Coll., London /Fermilab

2005-10-01

We show that the current accelerated expansion of the Universe can be explained without resorting to dark energy. Models of generalized modified gravity, with inverse powers of the curvature can have late time accelerating attractors without conflicting with solar system experiments. We have solved the Friedman equations for the full dynamical range of the evolution of the Universe. This allows us to perform a detailed analysis of Supernovae data in the context of such models that results in an excellent fit. Hence, inverse curvature gravity models represent an example of phenomenologically viable models in which the current acceleration of the Universe is driven by curvature instead of dark energy. If we further include constraints on the current expansion rate of the Universe from the Hubble Space Telescope and on the age of the Universe from globular clusters, we obtain that the matter content of the Universe is 0.07 {le} {omega}{sub m} {le} 0.21 (95% Confidence). Hence the inverse curvature gravity models considered can not explain the dynamics of the Universe just with a baryonic matter component.

Contribution to the modeling and the identification of haptic interfaces; Contribution a la modelisation et a l'identification des interfaces haptiques

Energy Technology Data Exchange (ETDEWEB)

Janot, A

2007-12-15

This thesis focuses on the modeling and the identification of haptic interfaces using cable drive. An haptic interface is a force feedback device, which enables its user to interact with a virtual world or a remote environment explored by a slave system. It aims at the matching between the forces and displacements given by the user and those applied to virtual world. Usually, haptic interfaces make use of a mechanical actuated structure whose distal link is equipped with a handle. When manipulating this handle to interact with explored world, the user feels the apparent mass, compliance and friction of the interface. This distortion introduced between the operator and the virtual world must be modeled and identified to enhance the design of the interface and develop appropriate control laws. The first approach has been to adapt the modeling and identification methods of rigid and localized flexibilities robots to haptic interfaces. The identification technique makes use of the inverse dynamic model and the linear least squares with the measurements of joint torques and positions. This approach is validated on a single degree of freedom and a three degree of freedom haptic devices. A new identification method needing only torque data is proposed. It is based on a closed loop simulation using the direct dynamic model. The optimal parameters minimize the 2 norms of the error between the actual torque and the simulated torque assuming the same control law and the same tracking trajectory. This non linear least squares problem dramatically is simplified using the inverse model to calculate the simulated torque. This method is validated on the single degree of freedom haptic device and the SCARA robot. (author)

A novel approach to haptic tele-operation of aerial robot vehicles

NARCIS (Netherlands)

Stramigioli, Stefano; Mahony, Robert; Corke, Peter

2010-01-01

We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D

Novel tilt-curvature coupling in lipid membranes

Science.gov (United States)

Terzi, M. Mert; Deserno, Markus

2017-08-01

On mesoscopic scales, lipid membranes are well described by continuum theories whose main ingredients are the curvature of a membrane's reference surface and the tilt of its lipid constituents. In particular, Hamm and Kozlov [Eur. Phys. J. E 3, 323 (2000)] have shown how to systematically derive such a tilt-curvature Hamiltonian based on the elementary assumption of a thin fluid elastic sheet experiencing internal lateral pre-stress. Performing a dimensional reduction, they not only derive the basic form of the effective surface Hamiltonian but also express its emergent elastic couplings as trans-membrane moments of lower-level material parameters. In the present paper, we argue, though, that their derivation unfortunately missed a coupling term between curvature and tilt. This term arises because, as one moves along the membrane, the curvature-induced change of transverse distances contributes to the area strain—an effect that was believed to be small but nevertheless ends up contributing at the same (quadratic) order as all other terms in their Hamiltonian. We illustrate the consequences of this amendment by deriving the monolayer and bilayer Euler-Lagrange equations for the tilt, as well as the power spectra of shape, tilt, and director fluctuations. A particularly curious aspect of our new term is that its associated coupling constant is the second moment of the lipid monolayer's lateral stress profile—which within this framework is equal to the monolayer Gaussian curvature modulus, κ¯ m. On the one hand, this implies that many theoretical predictions now contain a parameter that is poorly known (because the Gauss-Bonnet theorem limits access to the integrated Gaussian curvature); on the other hand, the appearance of κ¯ m outside of its Gaussian curvature provenance opens opportunities for measuring it by more conventional means, for instance by monitoring a membrane's undulation spectrum at short scales.

78 FR 23593 - Certain Mobile Electronic Devices Incorporating Haptics; Termination of Investigation

Science.gov (United States)

2013-04-19

... INTERNATIONAL TRADE COMMISSION [Investigation No. 337-TA-834] Certain Mobile Electronic Devices... the importation, sale for importation, and sale within the United States after importation of certain mobile electronic devices incorporating haptics that infringe certain claims of six Immersion patents. 77...

Using haptic feedback to increase seat belt use of service vehicle drivers.

Science.gov (United States)

2011-01-01

This study pilot-tested a new application of a technology-based intervention to increase seat belt use. The technology was based on a : contingency in which unbelted drivers experienced sustained haptic feedback to the gas pedal when they exceeded 25...

Haptic two-dimensional shape identification in children, adolescents, and young adults

NARCIS (Netherlands)

Overvliet, Krista E.; Krampe, Ralf Th

2018-01-01

We investigated the influence of image mediation (the process that translates tactile information into a visual image) on the development of haptic two-dimensional (2D) shape identification in 78 participants from five different age groups: preschoolers (4–5 years), first graders (6–7 years), fifth

Social Touch Technology: A Survey of Haptic Technology for Social Touch

NARCIS (Netherlands)

Huisman, Gijs

2017-01-01

This survey provides an overview of work on haptic technology for social touch. Social touch has been studied extensively in psychology and neuroscience. With the development of new technologies, it is now possible to engage in social touch at a distance or engage in social touch with artificial

The Hedonic Haptics Player: A Wearable Device to Experience Vibrotactile Compositions

DEFF Research Database (Denmark)

Boer, Laurens; Vallgårda, Anna; Cahill, Ben

2017-01-01

The Hedonic Haptics player is a portable wearable device that plays back vibrotactile compositions. It consists of three domes each of which houses a vibration motor providing vibrotactile sensations to the wearer. The domes are connected to a control unit the size of a small Walkman. The Hedonic...

An investigation of a passively controlled haptic interface

Energy Technology Data Exchange (ETDEWEB)

Davis, J.T. [Oak Ridge National Lab., TN (United States); Book, W.J. [Georgia Inst. of Tech., Atlanta, GA (United States). School of Mechanical Engineering

1997-03-01

Haptic interfaces enhance cooperation between humans and robotic manipulators by providing force and tactile feedback to the human user during the execution of arbitrary tasks. The use of active actuators in haptic displays presents a certain amount of risk since they are capable of providing unacceptable levels of energy to the systems upon which they operate. An alternative to providing numerous safeguards is to remove the sources of risk altogether. This research investigates the feasibility of trajectory control using passive devices, that is, devices that cannot add energy to the system. Passive actuators are capable only of removing energy from the system or transferring energy within the system. It is proposed that the utility of passive devices is greatly enhanced by the use of redundant actuators. In a passive system, once motion is provided to the system, presumably by a human user, passive devices may be able to modify this motion to achieve a desired resultant trajectory. A mechanically passive, 2-Degree-of-Freedom (D.O.F.) manipulator has been designed and built. It is equipped with four passive actuators: two electromagnetic brakes and two electromagnetic clutches. This paper gives a review of the literature on passive and robotics and describes the experimental test bed used in this research. Several control algorithms are investigated, resulting in the formulation of a passive control law.

An investigation of a passively controlled haptic interface

International Nuclear Information System (INIS)

Davis, J.T.; Book, W.J.

1997-01-01

Haptic interfaces enhance cooperation between humans and robotic manipulators by providing force and tactile feedback to the human user during the execution of arbitrary tasks. The use of active actuators in haptic displays presents a certain amount of risk since they are capable of providing unacceptable levels of energy to the systems upon which they operate. An alternative to providing numerous safeguards is to remove the sources of risk altogether. This research investigates the feasibility of trajectory control using passive devices, that is, devices that cannot add energy to the system. Passive actuators are capable only of removing energy from the system or transferring energy within the system. It is proposed that the utility of passive devices is greatly enhanced by the use of redundant actuators. In a passive system, once motion is provided to the system, presumably by a human user, passive devices may be able to modify this motion to achieve a desired resultant trajectory. A mechanically passive, 2-Degree-of-Freedom (D.O.F.) manipulator has been designed and built. It is equipped with four passive actuators: two electromagnetic brakes and two electromagnetic clutches. This paper gives a review of the literature on passive and robotics and describes the experimental test bed used in this research. Several control algorithms are investigated, resulting in the formulation of a passive control law

Patient adaptive control of end-effector based gait rehabilitation devices using a haptic control framework.

Science.gov (United States)

Hussein, Sami; Kruger, Jörg

2011-01-01

Robot assisted training has proven beneficial as an extension of conventional therapy to improve rehabilitation outcome. Further facilitation of this positive impact is expected from the application of cooperative control algorithms to increase the patient's contribution to the training effort according to his level of ability. This paper presents an approach for cooperative training for end-effector based gait rehabilitation devices. Thereby it provides the basis to firstly establish sophisticated cooperative control methods in this class of devices. It uses a haptic control framework to synthesize and render complex, task specific training environments, which are composed of polygonal primitives. Training assistance is integrated as part of the environment into the haptic control framework. A compliant window is moved along a nominal training trajectory compliantly guiding and supporting the foot motion. The level of assistance is adjusted via the stiffness of the moving window. Further an iterative learning algorithm is used to automatically adjust this assistance level. Stable haptic rendering of the dynamic training environments and adaptive movement assistance have been evaluated in two example training scenarios: treadmill walking and stair climbing. Data from preliminary trials with one healthy subject is provided in this paper. © 2011 IEEE

Cortical mechanisms underlying sensorimotor enhancement promoted by walking with haptic inputs in a virtual environment.

Science.gov (United States)

Sangani, Samir; Lamontagne, Anouk; Fung, Joyce

2015-01-01

Sensorimotor integration is a complex process in the central nervous system that produces task-specific motor output based on selective and rapid integration of sensory information from multiple sources. This chapter reviews briefly the role of haptic cues in postural control during tandem stance and locomotion, focusing on sensorimotor enhancement of locomotion post stroke. The use of mixed-reality systems incorporating both haptic cues and virtual reality technology in gait rehabilitation post stroke is discussed. Over the last decade, researchers and clinicians have shown evidence of cerebral reorganization that underlies functional recovery after stroke based on results from neuroimaging techniques such as positron emission tomography and functional magnetic resonance imaging. These imaging modalities are however limited in their capacity to measure cortical changes during extensive body motions in upright stance. Functional near-infrared spectroscopy (fNIRS) on the other hand provides a unique opportunity to measure cortical activity associated with postural control during locomotion. Evidence of cortical changes associated with sensorimotor enhancement induced by haptic touch during locomotion is revealed through fNIRS in a pilot study involving healthy individuals and a case study involving a chronic stroke patient. © 2015 Elsevier B.V. All rights reserved.

The curvature function in general relativity

International Nuclear Information System (INIS)

Hall, G S; MacNay, Lucy

2006-01-01

A function, here called the curvature function, is defined and which is constructed explicitly from the type (0, 4) curvature tensor. Although such a function may be defined for any manifold admitting a metric, attention is here concentrated on this function on a spacetime. Some properties of this function are explored and compared with a previous discussion of it given by Petrov

Curvature of Indoor Sensor Network: Clustering Coefficient

Directory of Open Access Journals (Sweden)

2009-03-01

Full Text Available We investigate the geometric properties of the communication graph in realistic low-power wireless networks. In particular, we explore the concept of the curvature of a wireless network via the clustering coefficient. Clustering coefficient analysis is a computationally simplified, semilocal approach, which nevertheless captures such a large-scale feature as congestion in the underlying network. The clustering coefficient concept is applied to three cases of indoor sensor networks, under varying thresholds on the link packet reception rate (PRR. A transition from positive curvature (“meshed” network to negative curvature (“core concentric” network is observed by increasing the threshold. Even though this paper deals with network curvature per se, we nevertheless expand on the underlying congestion motivation, propose several new concepts (network inertia and centroid, and finally we argue that greedy routing on a virtual positively curved network achieves load balancing on the physical network.

Inverse curvature flows in asymptotically Robertson Walker spaces

Science.gov (United States)

Kröner, Heiko

2018-04-01

In this paper we consider inverse curvature flows in a Lorentzian manifold N which is the topological product of the real numbers with a closed Riemannian manifold and equipped with a Lorentzian metric having a future singularity so that N is asymptotically Robertson Walker. The flow speeds are future directed and given by 1 / F where F is a homogeneous degree one curvature function of class (K*) of the principal curvatures, i.e. the n-th root of the Gauss curvature. We prove longtime existence of these flows and that the flow hypersurfaces converge to smooth functions when they are rescaled with a proper factor which results from the asymptotics of the metric.

Kinetic scrolling-based position mapping for haptic teleoperation of unmanned aerial vehicles

NARCIS (Netherlands)

Ruesch, A.; Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

In this paper, we present a haptic teleoperation control algorithm for unmanned aerial vehicles, applying a kinetic scrolling-based position mapping. The proposed algorithm overcomes the master workspace limitations and enables to teleoperate the aerial vehicle in unbounded workspace in a fast and

Curvature driven instabilities in toroidal plasmas

International Nuclear Information System (INIS)

Andersson, P.

1986-11-01

The electromagnetic ballooning mode, the curvature driven trapped electron mode and the toroidally induced ion temperature gradient mode have been studies. Eigenvalue equations have been derived and solved both numerically and analytically. For electromagnetic ballooning modes the effects of convective damping, finite Larmor radius, higher order curvature terms, and temperature gradients have been investigated. A fully toroidal fluid ion model has been developed. It is shown that a necessary and sufficient condition for an instability below the MHD limit is the presence of an ion temperature gradient. Analytical dispersion relations giving results in good agreement with numerical solutions are also presented. The curvature driven trapped electron modes are found to be unstable for virtually all parameters with growth rates of the order of the diamagnetic drift frequency. Studies have been made, using both a gyrokinetic ion description and the fully toroidal ion model. Both analytical and numerical results are presented and are found to be in good agreement. The toroidally induced ion temperature gradients modes are found to have a behavior similar to that of the curvature driven trapped electron modes and can in the electrostatic limit be described by a simple quadratic dispersion equation. (author)

Contribution to the modeling and the identification of haptic interfaces; Contribution a la modelisation et a l'identification des interfaces haptiques

Energy Technology Data Exchange (ETDEWEB)

Janot, A

2007-12-15

This thesis focuses on the modeling and the identification of haptic interfaces using cable drive. An haptic interface is a force feedback device, which enables its user to interact with a virtual world or a remote environment explored by a slave system. It aims at the matching between the forces and displacements given by the user and those applied to virtual world. Usually, haptic interfaces make use of a mechanical actuated structure whose distal link is equipped with a handle. When manipulating this handle to interact with explored world, the user feels the apparent mass, compliance and friction of the interface. This distortion introduced between the operator and the virtual world must be modeled and identified to enhance the design of the interface and develop appropriate control laws. The first approach has been to adapt the modeling and identification methods of rigid and localized flexibilities robots to haptic interfaces. The identification technique makes use of the inverse dynamic model and the linear least squares with the measurements of joint torques and positions. This approach is validated on a single degree of freedom and a three degree of freedom haptic devices. A new identification method needing only torque data is proposed. It is based on a closed loop simulation using the direct dynamic model. The optimal parameters minimize the 2 norms of the error between the actual torque and the simulated torque assuming the same control law and the same tracking trajectory. This non linear least squares problem dramatically is simplified using the inverse model to calculate the simulated torque. This method is validated on the single degree of freedom haptic device and the SCARA robot. (author)

Statistical mechanics of paths with curvature dependent action

International Nuclear Information System (INIS)

Ambjoern, J.; Durhuus, B.; Jonsson, T.

1987-01-01

We analyze the scaling limit of discretized random paths with curvature dependent action. For finite values of the curvature coupling constant the theory belongs to the universality class of simple random walk. It is possible to define a non-trivial scaling limit if the curvature coupling tends to infinity. We compute exactly the two point function in this limit and discuss the relevance of our results for random surfaces and string theories. (orig.)

Control of repulsive force in a virtual environment using an electrorheological haptic master for a surgical robot application

Science.gov (United States)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-01-01

This paper presents control performances of a new type of four-degrees-of-freedom (4-DOF) haptic master that can be used for robot-assisted minimally invasive surgery (RMIS). By adopting a controllable electrorheological (ER) fluid, the function of the proposed master is realized as a haptic feedback as well as remote manipulation. In order to verify the efficacy of the proposed master and method, an experiment is conducted with deformable objects featuring human organs. Since the use of real human organs is difficult for control due to high cost and moral hazard, an excellent alternative method, the virtual reality environment, is used for control in this work. In order to embody a human organ in the virtual space, the experiment adopts a volumetric deformable object represented by a shape-retaining chain linked (S-chain) model which has salient properties such as fast and realistic deformation of elastic objects. In haptic architecture for RMIS, the desired torque/force and desired position originating from the object of the virtual slave and operator of the haptic master are transferred to each other. In order to achieve the desired torque/force trajectories, a sliding mode controller (SMC) which is known to be robust to uncertainties is designed and empirically implemented. Tracking control performances for various torque/force trajectories from the virtual slave are evaluated and presented in the time domain.

Control of repulsive force in a virtual environment using an electrorheological haptic master for a surgical robot application

International Nuclear Information System (INIS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-01-01

This paper presents control performances of a new type of four-degrees-of-freedom (4-DOF) haptic master that can be used for robot-assisted minimally invasive surgery (RMIS). By adopting a controllable electrorheological (ER) fluid, the function of the proposed master is realized as a haptic feedback as well as remote manipulation. In order to verify the efficacy of the proposed master and method, an experiment is conducted with deformable objects featuring human organs. Since the use of real human organs is difficult for control due to high cost and moral hazard, an excellent alternative method, the virtual reality environment, is used for control in this work. In order to embody a human organ in the virtual space, the experiment adopts a volumetric deformable object represented by a shape-retaining chain linked (S-chain) model which has salient properties such as fast and realistic deformation of elastic objects. In haptic architecture for RMIS, the desired torque/force and desired position originating from the object of the virtual slave and operator of the haptic master are transferred to each other. In order to achieve the desired torque/force trajectories, a sliding mode controller (SMC) which is known to be robust to uncertainties is designed and empirically implemented. Tracking control performances for various torque/force trajectories from the virtual slave are evaluated and presented in the time domain. (paper)

Functional Contour-following via Haptic Perception and Reinforcement Learning.

Science.gov (United States)

Hellman, Randall B; Tekin, Cem; van der Schaar, Mihaela; Santos, Veronica J

2018-01-01

Many tasks involve the fine manipulation of objects despite limited visual feedback. In such scenarios, tactile and proprioceptive feedback can be leveraged for task completion. We present an approach for real-time haptic perception and decision-making for a haptics-driven, functional contour-following task: the closure of a ziplock bag. This task is challenging for robots because the bag is deformable, transparent, and visually occluded by artificial fingertip sensors that are also compliant. A deep neural net classifier was trained to estimate the state of a zipper within a robot's pinch grasp. A Contextual Multi-Armed Bandit (C-MAB) reinforcement learning algorithm was implemented to maximize cumulative rewards by balancing exploration versus exploitation of the state-action space. The C-MAB learner outperformed a benchmark Q-learner by more efficiently exploring the state-action space while learning a hard-to-code task. The learned C-MAB policy was tested with novel ziplock bag scenarios and contours (wire, rope). Importantly, this work contributes to the development of reinforcement learning approaches that account for limited resources such as hardware life and researcher time. As robots are used to perform complex, physically interactive tasks in unstructured or unmodeled environments, it becomes important to develop methods that enable efficient and effective learning with physical testbeds.

Face recognition based on depth maps and surface curvature

Science.gov (United States)

Gordon, Gaile G.

1991-09-01

This paper explores the representation of the human face by features based on the curvature of the face surface. Curature captures many features necessary to accurately describe the face, such as the shape of the forehead, jawline, and cheeks, which are not easily detected from standard intensity images. Moreover, the value of curvature at a point on the surface is also viewpoint invariant. Until recently range data of high enough resolution and accuracy to perform useful curvature calculations on the scale of the human face had been unavailable. Although several researchers have worked on the problem of interpreting range data from curved (although usually highly geometrically structured) surfaces, the main approaches have centered on segmentation by signs of mean and Gaussian curvature which have not proved sufficient in themselves for the case of the human face. This paper details the calculation of principal curvature for a particular data set, the calculation of general surface descriptors based on curvature, and the calculation of face specific descriptors based both on curvature features and a priori knowledge about the structure of the face. These face specific descriptors can be incorporated into many different recognition strategies. A system that implements one such strategy, depth template comparison, giving recognition rates between 80% and 90% is described.

INVESTIGATION OF CURVES SET BY CUBIC DISTRIBUTION OF CURVATURE

Directory of Open Access Journals (Sweden)

S. A. Ustenko

2014-03-01

Full Text Available Purpose. Further development of the geometric modeling of curvelinear contours of different objects based on the specified cubic curvature distribution and setpoints of curvature in the boundary points. Methodology. We investigate the flat section of the curvilinear contour generating under condition that cubic curvature distribution is set. Curve begins and ends at the given points, where angles of tangent slope and curvature are also determined. It was obtained the curvature equation of this curve, depending on the section length and coefficient c of cubic curvature distribution. The analysis of obtained equation was carried out. As well as, it was investigated the conditions, in which the inflection points of the curve are appearing. One should find such an interval of parameter change (depending on the input data and the section length, in order to place the inflection point of the curvature graph outside the curve section borders. It was determined the dependence of tangent slope of angle to the curve at its arbitrary point, as well as it was given the recommendations to solve a system of integral equations that allow finding the length of the curve section and the coefficient c of curvature cubic distribution. Findings. As the result of curves research, it is found that the criterion for their selection one can consider the absence of inflection points of the curvature on the observed section. Influence analysis of the parameter c on the graph of tangent slope angle to the curve showed that regardless of its value, it is provided the same rate of angle increase of tangent slope to the curve. Originality. It is improved the approach to geometric modeling of curves based on cubic curvature distribution with its given values at the boundary points by eliminating the inflection points from the observed section of curvilinear contours. Practical value. Curves obtained using the proposed method can be used for geometric modeling of curvilinear

Generalized Curvature-Matter Couplings in Modified Gravity

Directory of Open Access Journals (Sweden)

Tiberiu Harko

2014-07-01

Full Text Available In this work, we review a plethora of modified theories of gravity with generalized curvature-matter couplings. The explicit nonminimal couplings, for instance, between an arbitrary function of the scalar curvature R and the Lagrangian density of matter, induces a non-vanishing covariant derivative of the energy-momentum tensor, implying non-geodesic motion and, consequently, leads to the appearance of an extra force. Applied to the cosmological context, these curvature-matter couplings lead to interesting phenomenology, where one can obtain a unified description of the cosmological epochs. We also consider the possibility that the behavior of the galactic flat rotation curves can be explained in the framework of the curvature-matter coupling models, where the extra terms in the gravitational field equations modify the equations of motion of test particles and induce a supplementary gravitational interaction. In addition to this, these models are extremely useful for describing dark energy-dark matter interactions and for explaining the late-time cosmic acceleration.

Comparison of Walking and Traveling-Wave Piezoelectric Motors as Actuators in Kinesthetic Haptic Devices.

Science.gov (United States)

Olsson, Pontus; Nysjo, Fredrik; Carlbom, Ingrid B; Johansson, Stefan

2016-01-01

Piezoelectric motors offer an attractive alternative to electromagnetic actuators in portable haptic interfaces: they are compact, have a high force-to-volume ratio, and can operate with limited or no gearing. However, the choice of a piezoelectric motor type is not obvious due to differences in performance characteristics. We present our evaluation of two commercial, operationally different, piezoelectric motors acting as actuators in two kinesthetic haptic grippers, a walking quasi-static motor and a traveling wave ultrasonic motor. We evaluate each gripper's ability to display common virtual objects including springs, dampers, and rigid walls, and conclude that the walking quasi-static motor is superior at low velocities. However, for applications where high velocity is required, traveling wave ultrasonic motors are a better option.

A curvature theory for discrete surfaces based on mesh parallelity

KAUST Repository

Bobenko, Alexander Ivanovich

2009-12-18

We consider a general theory of curvatures of discrete surfaces equipped with edgewise parallel Gauss images, and where mean and Gaussian curvatures of faces are derived from the faces\\' areas and mixed areas. Remarkably these notions are capable of unifying notable previously defined classes of surfaces, such as discrete isothermic minimal surfaces and surfaces of constant mean curvature. We discuss various types of natural Gauss images, the existence of principal curvatures, constant curvature surfaces, Christoffel duality, Koenigs nets, contact element nets, s-isothermic nets, and interesting special cases such as discrete Delaunay surfaces derived from elliptic billiards. © 2009 Springer-Verlag.

Input and output for surgical simulation: devices to measure tissue properties in vivo and a haptic interface for laparoscopy simulators.

Science.gov (United States)

Ottensmeyer, M P; Ben-Ur, E; Salisbury, J K

2000-01-01

Current efforts in surgical simulation very often focus on creating realistic graphical feedback, but neglect some or all tactile and force (haptic) feedback that a surgeon would normally receive. Simulations that do include haptic feedback do not typically use real tissue compliance properties, favoring estimates and user feedback to determine realism. When tissue compliance data are used, there are virtually no in vivo property measurements to draw upon. Together with the Center for Innovative Minimally Invasive Therapy at the Massachusetts General Hospital, the Haptics Group is developing tools to introduce more comprehensive haptic feedback in laparoscopy simulators and to provide biological tissue material property data for our software simulation. The platform for providing haptic feedback is a PHANToM Haptic Interface, produced by SensAble Technologies, Inc. Our devices supplement the PHANToM to provide for grasping and optionally, for the roll axis of the tool. Together with feedback from the PHANToM, which provides the pitch, yaw and thrust axes of a typical laparoscopy tool, we can recreate all of the haptic sensations experienced during laparoscopy. The devices integrate real laparoscopy toolhandles and a compliant torso model to complete the set of visual and tactile sensations. Biological tissues are known to exhibit non-linear mechanical properties, and change their properties dramatically when removed from a living organism. To measure the properties in vivo, two devices are being developed. The first is a small displacement, 1-D indenter. It will measure the linear tissue compliance (stiffness and damping) over a wide range of frequencies. These data will be used as inputs to a finite element or other model. The second device will be able to deflect tissues in 3-D over a larger range, so that the non-linearities due to changes in the tissue geometry will be measured. This will allow us to validate the performance of the model on large tissue

Design of a Magnetic Resonance-Safe Haptic Wrist Manipulator for Movement Disorder Diagnostics

NARCIS (Netherlands)

Bode, Dyon; Mugge, Winfred; Schouten, Alfred C.; van Rootselaar, Anne-Fleur; Bour, Lo J.; van der Helm, Frans C. T.; Lammertse, Piet

2017-01-01

Tremor, characterized by involuntary and rhythmical movements, is the most common movement disorder. Tremor can have peripheral and central oscillatory components which properly assessed may improve diagnostics. A magnetic resonance (MR)-safe haptic wrist manipulator enables simultaneous measurement

77 FR 15390 - Certain Mobile Electronic Devices Incorporating Haptics; Receipt of Amended Complaint...

Science.gov (United States)

2012-03-15

... INTERNATIONAL TRADE COMMISSION [DN 2875] Certain Mobile Electronic Devices Incorporating Haptics.... International Trade Commission. ACTION: Notice. SUMMARY: Notice is hereby given that the U.S. International Trade Commission has received an amended complaint entitled Certain Mobile Electronic Devices...

Translating solitons to symplectic and Lagrangian mean curvature flows

International Nuclear Information System (INIS)

Han Xiaoli; Li Jiayu

2007-05-01

In this paper, we construct finite blow-up examples for symplectic mean curvature flows and we study symplectic translating solitons. We prove that there is no translating solitons with vertical bar α vertical bar ≤ α 0 to the symplectic mean curvature flow or to the almost calibrated Lagrangian mean curvature flow for some α 0 . (author)

Wearable Vibrotactile Haptic Device for Stiffness Discrimination during Virtual Interactions

Directory of Open Access Journals (Sweden)

Andualem Tadesse Maereg

2017-09-01

Full Text Available In this paper, we discuss the development of cost effective, wireless, and wearable vibrotactile haptic device for stiffness perception during an interaction with virtual objects. Our experimental setup consists of haptic device with five vibrotactile actuators, virtual reality environment tailored in Unity 3D integrating the Oculus Rift Head Mounted Display (HMD and the Leap Motion controller. The virtual environment is able to capture touch inputs from users. Interaction forces are then rendered at 500 Hz and fed back to the wearable setup stimulating fingertips with ERM vibrotactile actuators. Amplitude and frequency of vibrations are modulated proportionally to the interaction force to simulate the stiffness of a virtual object. A quantitative and qualitative study is done to compare the discrimination of stiffness on virtual linear spring in three sensory modalities: visual only feedback, tactile only feedback, and their combination. A common psychophysics method called the Two Alternative Forced Choice (2AFC approach is used for quantitative analysis using Just Noticeable Difference (JND and Weber Fractions (WF. According to the psychometric experiment result, average Weber fraction values of 0.39 for visual only feedback was improved to 0.25 by adding the tactile feedback.

Curvature reduces bending strains in the quokka femur

Directory of Open Access Journals (Sweden)

Kyle McCabe

2017-03-01

Full Text Available This study explores how curvature in the quokka femur may help to reduce bending strain during locomotion. The quokka is a small wallaby, but the curvature of the femur and the muscles active during stance phase are similar to most quadrupedal mammals. Our hypothesis is that the action of hip extensor and ankle plantarflexor muscles during stance phase place cranial bending strains that act to reduce the caudal curvature of the femur. Knee extensors and biarticular muscles that span the femur longitudinally create caudal bending strains in the caudally curved (concave caudal side bone. These opposing strains can balance each other and result in less strain on the bone. We test this idea by comparing the performance of a normally curved finite element model of the quokka femur to a digitally straightened version of the same bone. The normally curved model is indeed less strained than the straightened version. To further examine the relationship between curvature and the strains in the femoral models, we also tested an extra-curved and a reverse-curved version with the same loads. There appears to be a linear relationship between the curvature and the strains experienced by the models. These results demonstrate that longitudinal curvature in bones may be a manipulable mechanism whereby bone can induce a strain gradient to oppose strains induced by habitual loading.

Sequence periodicity in nucleosomal DNA and intrinsic curvature.

Science.gov (United States)

Nair, T Murlidharan

2010-05-17

Most eukaryotic DNA contained in the nucleus is packaged by wrapping DNA around histone octamers. Histones are ubiquitous and bind most regions of chromosomal DNA. In order to achieve smooth wrapping of the DNA around the histone octamer, the DNA duplex should be able to deform and should possess intrinsic curvature. The deformability of DNA is a result of the non-parallelness of base pair stacks. The stacking interaction between base pairs is sequence dependent. The higher the stacking energy the more rigid the DNA helix, thus it is natural to expect that sequences that are involved in wrapping around the histone octamer should be unstacked and possess intrinsic curvature. Intrinsic curvature has been shown to be dictated by the periodic recurrence of certain dinucleotides. Several genome-wide studies directed towards mapping of nucleosome positions have revealed periodicity associated with certain stretches of sequences. In the current study, these sequences have been analyzed with a view to understand their sequence-dependent structures. Higher order DNA structures and the distribution of molecular bend loci associated with 146 base nucleosome core DNA sequence from C. elegans and chicken have been analyzed using the theoretical model for DNA curvature. The curvature dispersion calculated by cyclically permuting the sequences revealed that the molecular bend loci were delocalized throughout the nucleosome core region and had varying degrees of intrinsic curvature. The higher order structures associated with nucleosomes of C.elegans and chicken calculated from the sequences revealed heterogeneity with respect to the deviation of the DNA axis. The results points to the possibility of context dependent curvature of varying degrees to be associated with nucleosomal DNA.

Human-Multi-Robot Teleoperation for Cooperative Manipulation Tasks using Wearable Haptic Devices

DEFF Research Database (Denmark)

Chinello, Francesco

2017-01-01

. Control inputs for both subtasks are provided by the human. The inputs are projected onto the space of subtasks using a forward mapping strategy. Measured wrenches are projected onto the feedback signals provided to the human via wearable fingertip haptic devices through a feedback mapping strategy...

Lecture notes on mean curvature flow, barriers and singular perturbations

CERN Document Server

Bellettini, Giovanni

2013-01-01

The aim of the book is to study some aspects of geometric evolutions, such as mean curvature flow and anisotropic mean curvature flow of hypersurfaces. We analyze the origin of such flows and their geometric and variational nature. Some of the most important aspects of mean curvature flow are described, such as the comparison principle and its use in the definition of suitable weak solutions. The anisotropic evolutions, which can be considered as a generalization of mean curvature flow, are studied from the view point of Finsler geometry. Concerning singular perturbations, we discuss the convergence of the Allen–Cahn (or Ginsburg–Landau) type equations to (possibly anisotropic) mean curvature flow before the onset of singularities in the limit problem. We study such kinds of asymptotic problems also in the static case, showing convergence to prescribed curvature-type problems.

a New ER Fluid Based Haptic Actuator System for Virtual Reality

Science.gov (United States)

Böse, H.; Baumann, M.; Monkman, G. J.; Egersdörfer, S.; Tunayar, A.; Freimuth, H.; Ermert, H.; Khaled, W.

The concept and some steps in the development of a new actuator system which enables the haptic perception of mechanically inhomogeneous virtual objects are introduced. The system consists of a two-dimensional planar array of actuator elements containing an electrorheological (ER) fluid. When a user presses his fingers onto the surface of the actuator array, he perceives locally variable resistance forces generated by vertical pistons which slide in the ER fluid through the gaps between electrode pairs. The voltage in each actuator element can be individually controlled by a novel sophisticated switching technology based on optoelectric gallium arsenide elements. The haptic information which is represented at the actuator array can be transferred from a corresponding sensor system based on ultrasonic elastography. The combined sensor-actuator system may serve as a technology platform for various applications in virtual reality, like telemedicine where the information on the consistency of tissue of a real patient is detected by the sensor part and recorded by the actuator part at a remote location.

Haptic cues for orientation and postural control in sighted and blind individuals

Science.gov (United States)

Jeka, J. J.; Easton, R. D.; Bentzen, B. L.; Lackner, J. R.

1996-01-01

Haptic cues from fingertip contact with a stable surface attenuate body sway in subjects even when the contact forces are too small to provide physical support of the body. We investigated how haptic cues derived from contact of a cane with a stationary surface at low force levels aids postural control in sighted and congenitally blind individuals. Five sighted (eyes closed) and five congenitally blind subjects maintained a tandem Romberg stance in five conditions: (1) no cane; (2,3) touch contact (postural sway in all subjects, compared to the no-cane condition. A slanted cane was far more effective in reducing postural sway than was a perpendicular cane. Cane use also decreased head displacement of sighted subjects far more than that of blind subjects. These results suggest that head movement control is linked to postural control through gaze stabilization reflexes in sighted subjects; such reflexes are absent in congenitally blind individuals and may account for their higher levels of head displacement.

Dynamic curvature sensing employing ionic-polymer–metal composite sensors

International Nuclear Information System (INIS)

Bahramzadeh, Yousef; Shahinpoor, Mohsen

2011-01-01

A dynamic curvature sensor is presented based on ionic-polymer–metal composite (IPMC) for curvature monitoring of deployable/inflatable dynamic space structures. Monitoring the curvature variation is of high importance in various engineering structures including shape monitoring of deployable/inflatable space structures in which the structural boundaries undergo a dynamic deployment process. The high sensitivity of IPMCs to the applied deformations as well as its flexibility make IPMCs a promising candidate for sensing of dynamic curvature changes. Herein, we explore the dynamic response of an IPMC sensor strip with respect to controlled curvature deformations subjected to different forms of input functions. Using a specially designed experimental setup, the voltage recovery effect, phase delay, and rate dependency of the output voltage signal of an IPMC curvature sensor are analyzed. Experimental results show that the IPMC sensor maintains the linearity, sensitivity, and repeatability required for curvature sensing. Besides, in order to describe the dynamic phenomena such as the rate dependency of the IPMC sensor, a chemo-electro-mechanical model based on the Poisson–Nernst–Planck (PNP) equation for the kinetics of ion diffusion is presented. By solving the governing partial differential equations the frequency response of the IPMC sensor is derived. The physical model is able to describe the dynamic properties of the IPMC sensor and the dependency of the signal on rate of excitations

Handling in the Micro/nano-world: haptic device

International Nuclear Information System (INIS)

Nigues, A.

2012-09-01

Synchrotron Radiation and Scanning Probe Microscopy (SPM) are among the most used techniques to study the physical and chemical properties of nano-structures. Coupling these two techniques is a promising path for opening new horizons in the study of nano-sciences. The merge has already proved its potentialities in the frame of the X-tip project where Atomic Force Microscopy (AFM) has been associated with synchrotron radiation X-Ray diffraction to determine the Young's modulus of germanium micro-plots by dynamically indenting the sample while performing diffraction analysis. The configuration used there, however, does not permit three dimension (3D) manipulations of samples. The aim of our nano-manipulator is 3D management of samples with permanent control of the nano-forces exerted on the object while immersed in a scanning beam (X-Ray, e-beams). The first chapter focuses on the sensors with which measure the interactions at a nanometer scale and permit the selection of individual objects. After an overview of the different techniques of micro/nano-manipulation available today (mechanical micro-grippers based on MEMS technology, optic tweezers or grippers based on conventional atomic force microscopy), and considering the constraints imposed by synchrotron experiments, the choice of quartz oscillators (Tuning Forks or Length Extended Resonators (LER)) as sensors is explained. It follows an introduction to Atomic Force Microscopy in general and the description of its association to these oscillators. In the second chapter, the instrumental development of our nano-manipulation station is detailed with particular care on the definition of the geometry of the resonators and related tips for achieving both AFM imaging and gripping of the sample and on the way to control the coarse and ne positioning of the three elements of the nano-manipulator. Finally, the haptic system ERGOS and its coupling with our assembly is described. In the last chapter, two types of

Early visual experience and the recognition of basic facial expressions: involvement of the middle temporal and inferior frontal gyri during haptic identification by the early blind.

Science.gov (United States)

Kitada, Ryo; Okamoto, Yuko; Sasaki, Akihiro T; Kochiyama, Takanori; Miyahara, Motohide; Lederman, Susan J; Sadato, Norihiro

2013-01-01

Face perception is critical for social communication. Given its fundamental importance in the course of evolution, the innate neural mechanisms can anticipate the computations necessary for representing faces. However, the effect of visual deprivation on the formation of neural mechanisms that underlie face perception is largely unknown. We previously showed that sighted individuals can recognize basic facial expressions by haptics surprisingly well. Moreover, the inferior frontal gyrus (IFG) and posterior superior temporal sulcus (pSTS) in the sighted subjects are involved in haptic and visual recognition of facial expressions. Here, we conducted both psychophysical and functional magnetic-resonance imaging (fMRI) experiments to determine the nature of the neural representation that subserves the recognition of basic facial expressions in early blind individuals. In a psychophysical experiment, both early blind and sighted subjects haptically identified basic facial expressions at levels well above chance. In the subsequent fMRI experiment, both groups haptically identified facial expressions and shoe types (control). The sighted subjects then completed the same task visually. Within brain regions activated by the visual and haptic identification of facial expressions (relative to that of shoes) in the sighted group, corresponding haptic identification in the early blind activated regions in the inferior frontal and middle temporal gyri. These results suggest that the neural system that underlies the recognition of basic facial expressions develops supramodally even in the absence of early visual experience.

Haptic-based neurorehabilitation in poststroke patients: a feasibility prospective multicentre trial for robotics hand rehabilitation.

Science.gov (United States)

Turolla, Andrea; Daud Albasini, Omar A; Oboe, Roberto; Agostini, Michela; Tonin, Paolo; Paolucci, Stefano; Sandrini, Giorgio; Venneri, Annalena; Piron, Lamberto

2013-01-01

Background. Haptic robots allow the exploitation of known motor learning mechanisms, representing a valuable option for motor treatment after stroke. The aim of this feasibility multicentre study was to test the clinical efficacy of a haptic prototype, for the recovery of hand function after stroke. Methods. A prospective pilot clinical trial was planned on 15 consecutive patients enrolled in 3 rehabilitation centre in Italy. All the framework features of the haptic robot (e.g., control loop, external communication, and graphic rendering for virtual reality) were implemented into a real-time MATLAB/Simulink environment, controlling a five-bar linkage able to provide forces up to 20 [N] at the end effector, used for finger and hand rehabilitation therapies. Clinical (i.e., Fugl-Meyer upper extremity scale; nine hold pegboard test) and kinematics (i.e., time; velocity; jerk metric; normalized jerk of standard movements) outcomes were assessed before and after treatment to detect changes in patients' motor performance. Reorganization of cortical activation was detected in one patient by fMRI. Results and Conclusions. All patients showed significant improvements in both clinical and kinematic outcomes. Additionally, fMRI results suggest that the proposed approach may promote a better cortical activation in the brain.

Haptic-Based Neurorehabilitation in Poststroke Patients: A Feasibility Prospective Multicentre Trial for Robotics Hand Rehabilitation

Directory of Open Access Journals (Sweden)

Andrea Turolla

2013-01-01

Full Text Available Background. Haptic robots allow the exploitation of known motorlearning mechanisms, representing a valuable option for motor treatment after stroke. The aim of this feasibility multicentre study was to test the clinical efficacy of a haptic prototype, for the recovery of hand function after stroke. Methods. A prospective pilot clinical trial was planned on 15 consecutive patients enrolled in 3 rehabilitation centre in Italy. All the framework features of the haptic robot (e.g., control loop, external communication, and graphic rendering for virtual reality were implemented into a real-time MATLAB/Simulink environment, controlling a five-bar linkage able to provide forces up to 20 [N] at the end effector, used for finger and hand rehabilitation therapies. Clinical (i.e., Fugl-Meyer upper extremity scale; nine hold pegboard test and kinematics (i.e., time; velocity; jerk metric; normalized jerk of standard movements outcomes were assessed before and after treatment to detect changes in patients' motor performance. Reorganization of cortical activation was detected in one patient by fMRI. Results and Conclusions. All patients showed significant improvements in both clinical and kinematic outcomes. Additionally, fMRI results suggest that the proposed approach may promote a better cortical activation in the brain.

Faster acquisition of laparoscopic skills in virtual reality with haptic feedback and 3D vision.

Science.gov (United States)

Hagelsteen, Kristine; Langegård, Anders; Lantz, Adam; Ekelund, Mikael; Anderberg, Magnus; Bergenfelz, Anders

2017-10-01

The study investigated whether 3D vision and haptic feedback in combination in a virtual reality environment leads to more efficient learning of laparoscopic skills in novices. Twenty novices were allocated to two groups. All completed a training course in the LapSim ® virtual reality trainer consisting of four tasks: 'instrument navigation', 'grasping', 'fine dissection' and 'suturing'. The study group performed with haptic feedback and 3D vision and the control group without. Before and after the LapSim ® course, the participants' metrics were recorded when tying a laparoscopic knot in the 2D video box trainer Simball ® Box. The study group completed the training course in 146 (100-291) minutes compared to 215 (175-489) minutes in the control group (p = .002). The number of attempts to reach proficiency was significantly lower. The study group had significantly faster learning of skills in three out of four individual tasks; instrument navigation, grasping and suturing. Using the Simball ® Box, no difference in laparoscopic knot tying after the LapSim ® course was noted when comparing the groups. Laparoscopic training in virtual reality with 3D vision and haptic feedback made training more time efficient and did not negatively affect later video box-performance in 2D. [Formula: see text].

Finite Element Methods for real-time Haptic Feedback of Soft-Tissue Models in Virtual Reality Simulators

Science.gov (United States)

Frank, Andreas O.; Twombly, I. Alexander; Barth, Timothy J.; Smith, Jeffrey D.; Dalton, Bonnie P. (Technical Monitor)

2001-01-01

We have applied the linear elastic finite element method to compute haptic force feedback and domain deformations of soft tissue models for use in virtual reality simulators. Our results show that, for virtual object models of high-resolution 3D data (>10,000 nodes), haptic real time computations (>500 Hz) are not currently possible using traditional methods. Current research efforts are focused in the following areas: 1) efficient implementation of fully adaptive multi-resolution methods and 2) multi-resolution methods with specialized basis functions to capture the singularity at the haptic interface (point loading). To achieve real time computations, we propose parallel processing of a Jacobi preconditioned conjugate gradient method applied to a reduced system of equations resulting from surface domain decomposition. This can effectively be achieved using reconfigurable computing systems such as field programmable gate arrays (FPGA), thereby providing a flexible solution that allows for new FPGA implementations as improved algorithms become available. The resulting soft tissue simulation system would meet NASA Virtual Glovebox requirements and, at the same time, provide a generalized simulation engine for any immersive environment application, such as biomedical/surgical procedures or interactive scientific applications.

Safe Local Navigation for Visually Impaired Users With a Time-of-Flight and Haptic Feedback Device.

Science.gov (United States)

Katzschmann, Robert K; Araki, Brandon; Rus, Daniela

2018-03-01

This paper presents ALVU (Array of Lidars and Vibrotactile Units), a contactless, intuitive, hands-free, and discreet wearable device that allows visually impaired users to detect low- and high-hanging obstacles, as well as physical boundaries in their immediate environment. The solution allows for safe local navigation in both confined and open spaces by enabling the user to distinguish free space from obstacles. The device presented is composed of two parts: a sensor belt and a haptic strap. The sensor belt is an array of time-of-flight distance sensors worn around the front of a user's waist, and the pulses of infrared light provide reliable and accurate measurements of the distances between the user and surrounding obstacles or surfaces. The haptic strap communicates the measured distances through an array of vibratory motors worn around the user's upper abdomen, providing haptic feedback. The linear vibration motors are combined with a point-loaded pretensioned applicator to transmit isolated vibrations to the user. We validated the device's capability in an extensive user study entailing 162 trials with 12 blind users. Users wearing the device successfully walked through hallways, avoided obstacles, and detected staircases.

Control of an ER haptic master in a virtual slave environment for minimally invasive surgery applications

International Nuclear Information System (INIS)

Han, Young-Min; Choi, Seung-Bok

2008-01-01

This paper presents the control performance of an electrorheological (ER) fluid-based haptic master device connected to a virtual slave environment that can be used for minimally invasive surgery (MIS). An already developed haptic joint featuring controllable ER fluid and a spherical joint mechanism is adopted for the master system. Medical forceps and an angular position measuring device are devised and integrated with the joint to establish the MIS master system. In order to embody a human organ in virtual space, a volumetric deformable object is used. The virtual object is then mathematically formulated by a shape-retaining chain-linked (S-chain) model. After evaluating the reflection force, computation time and compatibility with real-time control, the haptic architecture for MIS is established by incorporating the virtual slave with the master device so that the reflection force for the object of the virtual slave and the desired position for the master operator are transferred to each other. In order to achieve the desired force trajectories, a sliding mode controller is formulated and then experimentally realized. Tracking control performances for various force trajectories are evaluated and presented in the time domain

HapticScreenを用いたメディアインスタレーション : ANOMALOCARIS(<特集>インタラクティブアート)

OpenAIRE

岩田, 洋夫; 矢野, 博明; 中泉, 文孝

2000-01-01

"ANOMALOCARIS" is an interactive work, which represents virtual creature through visual and haptic sensation. Anomalocaris is a name of an animal that supposed to live during the Cambrian Era. Virtual anomalocaris is displayed on the HapticScreen. HapticScreen is a new configuration of a force feedback device. HapticScreen has an innovative mechanism that creates sense of touch on whole palm. The device deforms itself to present shapes of virtual object. Typical force feedback device uses a g...

Guidelines for haptic interpersonal communication applications : an exploration of foot interaction styles

NARCIS (Netherlands)

Rovers, A.F.; Essen, van H.A.

2006-01-01

A new method for researching haptic interaction styles is presented, based on a layered interaction model and a classification of existing devices. The method is illustrated by designing a new foot interaction device. The aim of which is to enhance non-verbal communication over a computer network. A

Proximity: representations of fragile space through hapticity and vision

OpenAIRE

Garrett, Stephen Francis

2017-01-01

This research paper investigates the phenomenology of touch and its relationship to my sculptural practice. My studio research has been engaged in site-responsive interventions developed as a series of ephemeral artworks. Core to this is the relationship between vision and touch. My paper charts the evolution of this and how I consider these factors when making art. My process stems from my engagement with the notion of hapticity-how we understand the tactile experience of space and place ...

Augmented communication with haptic I/O in mobile devices

OpenAIRE

Haverinen, Laura

2012-01-01

Nonverbal communication is a very important part of face to face communication. Both explicit and implicit additions to verbal communication augment the information content of communication. Before telephones did not provide any means for adding nonverbal information to the communication, but now, as the technology has advanced, it is possible to start augmenting also the communication on the phone. Adding a haptic I/O device to a regular mobile phone opens possibilities to add value to commu...

Continuous-Curvature Path Generation Using Fermat's Spiral

Directory of Open Access Journals (Sweden)

Anastasios M. Lekkas

2013-10-01

Full Text Available This paper proposes a novel methodology, based on Fermat's spiral (FS, for constructing curvature-continuous parametric paths in a plane. FS has a zero curvature at its origin, a property that allows it to be connected with a straight line smoothly, that is, without the curvature discontinuity which occurs at the transition point between a line and a circular arc when constructing Dubins paths. Furthermore, contrary to the computationally expensive clothoids, FS is described by very simple parametric equations that are trivial to compute. On the downside, computing the length of an FS arc involves a Gaussian hypergeometric function. However, this function is absolutely convergent and it is also shown that it poses no restrictions to the domain within which the length can be calculated. In addition, we present an alternative parametrization of FS which eliminates the parametric speed singularity at the origin, hence making the spiral suitable for path-tracking applications. A detailed description of how to construct curvature-continuous paths with FS is given.

Influence of Coanda surface curvature on performance of bladeless fan

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Li, Guoqi; Hu, Yongjun; Jin, Yingzi; Setoguchi, Toshiaki; Kim, Heuy Dong

2014-10-01

The unique Coanda surface has a great influence on the performance of bladeless fan. However, there is few studies to explain the relationship between the performance and Coanda surface curvature at present. In order to gain a qualitative understanding of effect of the curvature on the performance of bladeless fan, numerical studies are performed in this paper. Firstly, three-dimensional numerical simulation is done by Fluent software. For the purpose to obtain detailed information of the flow field around the Coanda surface, two-dimensional numerical simulation is also conducted. Five types of Coanda surfaces with different curvature are designed, and the flow behaviour and the performance of them are analyzed and compared with those of the prototype. The analysis indicates that the curvature of Coanda surface is strongly related to blowing performance, It is found that there is an optimal curvature of Coanda surfaces among the studied models. Simulation result shows that there is a special low pressure region. With increasing curvature in Y direction, several low pressure regions gradually enlarged, then begin to merge slowly, and finally form a large area of low pressure. From the analyses of streamlines and velocity angle, it is found that the magnitude of the curvature affects the flow direction and reasonable curvature can induce fluid flow close to the wall. Thus, it leads to that the curvature of the streamlines is consistent with that of Coanda surface. Meanwhile, it also causes the fluid movement towards the most suitable direction. This study will provide useful information to performance improvements of bladeless fans.

Distributed mean curvature on a discrete manifold for Regge calculus

International Nuclear Information System (INIS)

Conboye, Rory; Miller, Warner A; Ray, Shannon

2015-01-01

The integrated mean curvature of a simplicial manifold is well understood in both Regge Calculus and Discrete Differential Geometry. However, a well motivated pointwise definition of curvature requires a careful choice of the volume over which to uniformly distribute the local integrated curvature. We show that hybrid cells formed using both the simplicial lattice and its circumcentric dual emerge as a remarkably natural structure for the distribution of this local integrated curvature. These hybrid cells form a complete tessellation of the simplicial manifold, contain a geometric orthonormal basis, and are also shown to give a pointwise mean curvature with a natural interpretation as the fractional rate of change of the normal vector. (paper)

Distributed mean curvature on a discrete manifold for Regge calculus

Science.gov (United States)

Conboye, Rory; Miller, Warner A.; Ray, Shannon

2015-09-01

The integrated mean curvature of a simplicial manifold is well understood in both Regge Calculus and Discrete Differential Geometry. However, a well motivated pointwise definition of curvature requires a careful choice of the volume over which to uniformly distribute the local integrated curvature. We show that hybrid cells formed using both the simplicial lattice and its circumcentric dual emerge as a remarkably natural structure for the distribution of this local integrated curvature. These hybrid cells form a complete tessellation of the simplicial manifold, contain a geometric orthonormal basis, and are also shown to give a pointwise mean curvature with a natural interpretation as the fractional rate of change of the normal vector.

Substrate curvature gradient drives rapid droplet motion.

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Lv, Cunjing; Chen, Chao; Chuang, Yin-Chuan; Tseng, Fan-Gang; Yin, Yajun; Grey, Francois; Zheng, Quanshui

2014-07-11

Making small liquid droplets move spontaneously on solid surfaces is a key challenge in lab-on-chip and heat exchanger technologies. Here, we report that a substrate curvature gradient can accelerate micro- and nanodroplets to high speeds on both hydrophilic and hydrophobic substrates. Experiments for microscale water droplets on tapered surfaces show a maximum speed of 0.42  m/s, 2 orders of magnitude higher than with a wettability gradient. We show that the total free energy and driving force exerted on a droplet are determined by the substrate curvature and substrate curvature gradient, respectively. Using molecular dynamics simulations, we predict nanoscale droplets moving spontaneously at over 100  m/s on tapered surfaces.

Effect of nano-scale curvature on the intrinsic blood coagulation system

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Kushida, Takashi; Saha, Krishnendu; Subramani, Chandramouleeswaran; Nandwana, Vikas; Rotello, Vincent M.

2014-11-01

The intrinsic coagulation activity of silica nanoparticles strongly depends on their surface curvature. Nanoparticles with higher surface curvature do not denature blood coagulation factor XII on its surface, providing a coagulation `silent' surface, while nanoparticles with lower surface curvature show denaturation and concomitant coagulation.The intrinsic coagulation activity of silica nanoparticles strongly depends on their surface curvature. Nanoparticles with higher surface curvature do not denature blood coagulation factor XII on its surface, providing a coagulation `silent' surface, while nanoparticles with lower surface curvature show denaturation and concomitant coagulation. Electronic supplementary information (ESI) available: Physical properties and scanning electron micrographs (SEM) of silica NPs, intrinsic coagulation activity after 3 h. See DOI: 10.1039/c4nr04128c

Effect of Plate Curvature on Blast Response of Structural Steel Plates

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Veeredhi, Lakshmi Shireen Banu; Ramana Rao, N. V.; Veeredhi, Vasudeva Rao

2018-04-01

In the present work an attempt is made, through simulation studies, to determine the effect of plate curvature on the blast response of a door structure made of ASTM A515 grade 50 steel plates. A door structure with dimensions of 5.142 m × 2.56 m × 10 mm having six different radii of curvatures is analyzed which is subjected to blast load. The radii of curvature investigated are infinity (flat plate), 16.63, 10.81, 8.26, 6.61 and 5.56 m. In the present study, a stand-off distance of 11 m is considered for all the cases. Results showed that the door structure with smallest radius of curvature experienced least plastic deformation and yielding when compared to a door with larger radius of curvature with same projected area. From the present Investigation, it is observed that, as the radius of curvature of the plate increases, the deformation mode gradually shifts from indentation mode to flexural mode. The plates with infinity and 16.63 m radius of curvature have undergone flexural mode of deformation and plates with 6.61 and 5.56 m radius of curvature undergo indentation mode of deformation. Whereas, mixed mode of deformation that consists of both flexural and indentation mode of deformations are seen in the plates with radius of curvature 10.81 and 8.26 m. As the radius of curvature of the plate decreases the ability of the plate to mitigate the effect the blast loads increased. It is observed that the plate with smaller radius of curvature deflects most of the blast energy and results in least indentation mode of deformation. The most significant observation made in the present investigation is that the strain energy absorbed by the steel plate gets reduced to 1/3 rd when the radius of curvature is approximately equal to the stand-off distance which could be the critical radius of curvature.

On Riemannian manifolds (Mn, g) of quasi-constant curvature

International Nuclear Information System (INIS)

Rahman, M.S.

1995-07-01

A Riemannian manifold (M n , g) of quasi-constant curvature is defined. It is shown that an (M n , g) in association with other class of manifolds gives rise, under certain conditions, to a manifold of quasi-constant curvature. Some observations on how a manifold of quasi-constant curvature accounts for a pseudo Ricci-symmetric manifold and quasi-umbilical hypersurface are made. (author). 10 refs

Cholera toxin B subunit induces local curvature on lipid bilayers

DEFF Research Database (Denmark)

Pezeshkian, Weria; Nåbo, Lina J.; Ipsen, John H.

2017-01-01

B induces a local membrane curvature that is essential for its clathrin-independent uptake. Using all-atom molecular dynamics, we show that CTxB induces local curvature, with the radius of curvature around 36 nm. The main feature of the CTxB molecular structure that causes membrane bending is the protruding...... alpha helices in the middle of the protein. Our study points to a generic protein design principle for generating local membrane curvature through specific binding to their lipid anchors....

Curvature collineations for the field of gravitational waves

International Nuclear Information System (INIS)

Singh, K.P.; Singh, Gulab

1981-01-01

It has been shown that the space-times formed from a plane-fronted gravity wave and from a plane sandwich wave with constant polarisation admit proper curvature collineation in general. The curvature collineation vectors have been determined explicitly. (author)

Adaptation of a haptic robot in a 3T fMRI.

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Snider, Joseph; Plank, Markus; May, Larry; Liu, Thomas T; Poizner, Howard

2011-10-04

Functional magnetic resonance imaging (fMRI) provides excellent functional brain imaging via the BOLD signal with advantages including non-ionizing radiation, millimeter spatial accuracy of anatomical and functional data, and nearly real-time analyses. Haptic robots provide precise measurement and control of position and force of a cursor in a reasonably confined space. Here we combine these two technologies to allow precision experiments involving motor control with haptic/tactile environment interaction such as reaching or grasping. The basic idea is to attach an 8 foot end effecter supported in the center to the robot allowing the subject to use the robot, but shielding it and keeping it out of the most extreme part of the magnetic field from the fMRI machine (Figure 1). The Phantom Premium 3.0, 6DoF, high-force robot (SensAble Technologies, Inc.) is an excellent choice for providing force-feedback in virtual reality experiments, but it is inherently non-MR safe, introduces significant noise to the sensitive fMRI equipment, and its electric motors may be affected by the fMRI's strongly varying magnetic field. We have constructed a table and shielding system that allows the robot to be safely introduced into the fMRI environment and limits both the degradation of the fMRI signal by the electrically noisy motors and the degradation of the electric motor performance by the strongly varying magnetic field of the fMRI. With the shield, the signal to noise ratio (SNR: mean signal/noise standard deviation) of the fMRI goes from a baseline of ~380 to ~330, and ~250 without the shielding. The remaining noise appears to be uncorrelated and does not add artifacts to the fMRI of a test sphere (Figure 2). The long, stiff handle allows placement of the robot out of range of the most strongly varying parts of the magnetic field so there is no significant effect of the fMRI on the robot. The effect of the handle on the robot's kinematics is minimal since it is lightweight (~2

Integration of Haptics in Agricultural Robotics

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Kannan Megalingam, Rajesh; Sreekanth, M. M.; Sivanantham, Vinu; Sai Kumar, K.; Ghanta, Sriharsha; Surya Teja, P.; Reddy, Rajesh G.

2017-08-01

Robots can differentiate with open loop system and closed loop system robots. We face many problems when we do not have a feedback from robots. In this research paper, we are discussing all possibilities to achieve complete closed loop system for Multiple-DOF Robotic Arm, which is used in a coconut tree climbing and cutting robot by introducing a Haptic device. We are working on various sensors like tactile, vibration, force and proximity sensors for getting feedback. For monitoring the robotic arm achieved by graphical user interference software which simulates the working of the robotic arm, send the feedback of all the real time analog values which are produced by various sensors and provide real-time graphs for estimate the efficiency of the Robot.

An Investigation on Temporal Aspects in the Audio-Haptic Simulation of Footsteps

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Turchet, Luca; Serafin, Stefania

2011-01-01

In this paper, we present an experiment whose goal is to assess the role of temporal aspects in sonically and haptically simulating the act of walking on a bump or a hole. In particular, we investigated whether the timing between heel and toe and the timing between footsteps affected perception...

Development of a new haptic perception instrument: a pilot study

OpenAIRE

Nascimento, Leonardo Penteado; Martini, Joyce; Voos, Mariana Callil; Chien, Hsin Fen; Caromano, Fátima Aparecida

2015-01-01

ABSTRACT Objective Hand sensory tests do not consider distinct physiological receptors, nor detect normal range variations concerning developmental or pathological changes. We developed an instrument with a set of tests with timing and scoring for assessing haptic perception, which is the interaction between sensory and motor systems, in surfaces exploration, by moving hands. Method Firstly, group meetings were set for test/manual conception and materials testing. The test/manual were sub...

Remarks on the boundary curve of a constant mean curvature topological disc

DEFF Research Database (Denmark)

Brander, David; Lopéz, Rafael

2017-01-01

We discuss some consequences of the existence of the holomorphic quadratic Hopf differential on a conformally immersed constant mean curvature topological disc with analytic boundary. In particular, we derive a formula for the mean curvature as a weighted average of the normal curvature of the bo......We discuss some consequences of the existence of the holomorphic quadratic Hopf differential on a conformally immersed constant mean curvature topological disc with analytic boundary. In particular, we derive a formula for the mean curvature as a weighted average of the normal curvature...

Early visual experience and the recognition of basic facial expressions: involvement of the middle temporal and inferior frontal gyri during haptic identification by the early blind

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Kitada, Ryo; Okamoto, Yuko; Sasaki, Akihiro T.; Kochiyama, Takanori; Miyahara, Motohide; Lederman, Susan J.; Sadato, Norihiro

2012-01-01

Face perception is critical for social communication. Given its fundamental importance in the course of evolution, the innate neural mechanisms can anticipate the computations necessary for representing faces. However, the effect of visual deprivation on the formation of neural mechanisms that underlie face perception is largely unknown. We previously showed that sighted individuals can recognize basic facial expressions by haptics surprisingly well. Moreover, the inferior frontal gyrus (IFG) and posterior superior temporal sulcus (pSTS) in the sighted subjects are involved in haptic and visual recognition of facial expressions. Here, we conducted both psychophysical and functional magnetic-resonance imaging (fMRI) experiments to determine the nature of the neural representation that subserves the recognition of basic facial expressions in early blind individuals. In a psychophysical experiment, both early blind and sighted subjects haptically identified basic facial expressions at levels well above chance. In the subsequent fMRI experiment, both groups haptically identified facial expressions and shoe types (control). The sighted subjects then completed the same task visually. Within brain regions activated by the visual and haptic identification of facial expressions (relative to that of shoes) in the sighted group, corresponding haptic identification in the early blind activated regions in the inferior frontal and middle temporal gyri. These results suggest that the neural system that underlies the recognition of basic facial expressions develops supramodally even in the absence of early visual experience. PMID:23372547

Cosmic curvature from de Sitter equilibrium cosmology.

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Albrecht, Andreas

2011-10-07

I show that the de Sitter equilibrium cosmology generically predicts observable levels of curvature in the Universe today. The predicted value of the curvature, Ω(k), depends only on the ratio of the density of nonrelativistic matter to cosmological constant density ρ(m)(0)/ρ(Λ) and the value of the curvature from the initial bubble that starts the inflation, Ω(k)(B). The result is independent of the scale of inflation, the shape of the potential during inflation, and many other details of the cosmology. Future cosmological measurements of ρ(m)(0)/ρ(Λ) and Ω(k) will open up a window on the very beginning of our Universe and offer an opportunity to support or falsify the de Sitter equilibrium cosmology.

Radion stabilization in higher curvature warped spacetime

Energy Technology Data Exchange (ETDEWEB)

Das, Ashmita [Indian Institute of Technology, Department of Physics, Guwahati, Assam (India); Mukherjee, Hiya; Paul, Tanmoy; SenGupta, Soumitra [Indian Association for the Cultivation of Science, Department of Theoretical Physics, Kolkata (India)

2018-02-15

We consider a five dimensional AdS spacetime in presence of higher curvature term like F(R) = R + αR{sup 2} in the bulk. In this model, we examine the possibility of modulus stabilization from the scalar degrees of freedom of higher curvature gravity free of ghosts. Our result reveals that the model stabilizes itself and the mechanism of modulus stabilization can be argued from a geometric point of view. We determine the region of the parametric space for which the modulus (or radion) can to be stabilized. We also show how the mass and coupling parameters of radion field are modified due to higher curvature term leading to modifications of its phenomenological implications on the visible 3-brane. (orig.)

Mediating Haptic Exploratory Strategies in Children Who Have Visual Impairment and Intellectual Disabilities

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McLinden, M.

2012-01-01

This article provides a synthesis of literature pertaining to the development of haptic exploratory strategies in children who have visual impairment and intellectual disabilities. The information received through such strategies assumes particular significance for these children, given the restricted information available through their visual…

The Phenomenon of Touch in Architectural Design and a Field Study on Haptic Mapping

Directory of Open Access Journals (Sweden)

Pınar ÖKTEM ERKARTAL

2015-02-01

Full Text Available Ocular-centrism is the utilitarian-aesthetic perspective which dominates the perception of spatial quality and architectural success in the West. In locating vision as the dominant discourse in architectural design, this perspective has been criticized for ignoring the physical and psychological relation created between subject and space during the spatial experience, sensual memory, movement and time. The phenomenon of touch, which may be defined as the interaction between architecture and subject dependent on physical and cognitive perception, offers another way of thinking and interpreting architecture, and constitutes an alternative starting point for design. The aim of this study was three-fold: to research and describe the phenomenon of touch in design concepts, to present the effects of hapticity in spatial experience on the user, and to present a visualization study for this phenomenon which is quite challenging to express. For the fieldwork, five buildings designed by Peter Zumthor were chosen. Zumthor stresses the importance of sensation, materiality and atmosphere in the architectural design process. Zumthor’s abstract design elements, their use in architectural space and the effect were determined using physical measurement. The findings were represented in “haptic mapping”. This visualization study consisted of a “haptic scatter chart”, “materiality- affect analysis” and “sensation analysis” and revealed that the phenomenon of touch and concepts identified it such as sensations, influence, materiality and mental associations are not abstract and inaccessible assumptions, but tools which can be included in the architectural design process.

Haptic device for telerobotic surgery

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Salisbury, Curt; Salisbury, Jr., J. Kenneth

2014-12-30

A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.

Haptic feedback can provide an objective assessment of arthroscopic skills.

Science.gov (United States)

Chami, George; Ward, James W; Phillips, Roger; Sherman, Kevin P

2008-04-01

The outcome of arthroscopic procedures is related to the surgeon's skills in arthroscopy. Currently, evaluation of such skills relies on direct observation by a surgeon trainer. This type of assessment, by its nature, is subjective and time-consuming. The aim of our study was to identify whether haptic information generated from arthroscopic tools could distinguish between skilled and less skilled surgeons. A standard arthroscopic probe was fitted with a force/torque sensor. The probe was used by five surgeons with different levels of experience in knee arthroscopy performing 11 different tasks in 10 standard knee arthroscopies. The force/torque data from the hand and tool interface were recorded and synchronized with a video recording of the procedure. The torque magnitude and patterns generated were analyzed and compared. A computerized system was used to analyze the force/torque signature based on general principles for quality of performance using such measures as economy in movement, time efficiency, and consistency in performance. The results showed a considerable correlation between three haptic parameters and the surgeon's experience, which could be used in an automated objective assessment system for arthroscopic surgery. Level II, diagnostic study. See the Guidelines for Authors for a complete description of levels of evidence.

Robust modal curvature features for identifying multiple damage in beams

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Ostachowicz, Wiesław; Xu, Wei; Bai, Runbo; Radzieński, Maciej; Cao, Maosen

2014-03-01

Curvature mode shape is an effective feature for damage detection in beams. However, it is susceptible to measurement noise, easily impairing its advantage of sensitivity to damage. To deal with this deficiency, this study formulates an improved curvature mode shape for multiple damage detection in beams based on integrating a wavelet transform (WT) and a Teager energy operator (TEO). The improved curvature mode shape, termed the WT - TEO curvature mode shape, has inherent capabilities of immunity to noise and sensitivity to damage. The proposed method is experimentally validated by identifying multiple cracks in cantilever steel beams with the mode shapes acquired using a scanning laser vibrometer. The results demonstrate that the improved curvature mode shape can identify multiple damage accurately and reliably, and it is fairly robust to measurement noise.

Pigment dispersion glaucoma induced by the chafing effect of intraocular lens haptics in Asian eyes.

Science.gov (United States)

Hong, Ying; Sun, Yan-Xiu; Qi, Hong; Zhou, Ji-Chao; Hao, Yan-Sheng

2013-03-01

To study the possible mechanism and treatment for pigment dispersion glaucoma (PDG) caused by single-piece acrylic (SPA) intraocular lens (IOL) ciliary sulcus fixation in Asian eyes. Patients referred for PDG caused by SPA IOL ciliary sulcus fixation to our hospital from April 2005 to June 2011 were included. The patients' general information, IOL type, interval between initial surgery and PDG occurrence, examination findings, antiglaucoma medicine regimen and surgical interventions were recorded. In total, six eyes from five Chinese patients were included in this study. The intraocular pressure (IOP) increased 19-30 days after cataract surgery and was not satisfactorily controlled with antiglaucoma medication. Dense pigmentation was deposited on the IOLs and on the anterior chamber angle. IOL haptic chafing was noted on the rear iris surface. IOL repositioning in the capsular bag was performed in three eyes and was combined with trabeculectomy in two eyes with progressive glaucoma. An IOL exchange with three-piece IOL ciliary sulcus fixation was performed in the other three eyes. Scanning electron microscopy of the explanted IOLs demonstrated a rough edge on the IOL haptics. SPA IOLs were not suitable for ciliary sulcus fixation. The chafing effect of the IOL haptics on the posterior iris pigment epithelium could induce PDG in Asian eyes. IOLs should be positioned in the capsular bag or a three-piece IOL should be used instead.

Learning of arbitrary association between visual and auditory novel stimuli in adults: the "bond effect" of haptic exploration.

Directory of Open Access Journals (Sweden)

Benjamin Fredembach

Full Text Available BACKGROUND: It is well-known that human beings are able to associate stimuli (novel or not perceived in their environment. For example, this ability is used by children in reading acquisition when arbitrary associations between visual and auditory stimuli must be learned. The studies tend to consider it as an "implicit" process triggered by the learning of letter/sound correspondences. The study described in this paper examined whether the addition of the visuo-haptic exploration would help adults to learn more effectively the arbitrary association between visual and auditory novel stimuli. METHODOLOGY/PRINCIPAL FINDINGS: Adults were asked to learn 15 new arbitrary associations between visual stimuli and their corresponding sounds using two learning methods which differed according to the perceptual modalities involved in the exploration of the visual stimuli. Adults used their visual modality in the "classic" learning method and both their visual and haptic modalities in the "multisensory" learning one. After both learning methods, participants showed a similar above-chance ability to recognize the visual and auditory stimuli and the audio-visual associations. However, the ability to recognize the visual-auditory associations was better after the multisensory method than after the classic one. CONCLUSION/SIGNIFICANCE: This study revealed that adults learned more efficiently the arbitrary association between visual and auditory novel stimuli when the visual stimuli were explored with both vision and touch. The results are discussed from the perspective of how they relate to the functional differences of the manual haptic modality and the hypothesis of a "haptic bond" between visual and auditory stimuli.

Cognitive aspects of haptic form recognition by blind and sighted subjects.

Science.gov (United States)

Bailes, S M; Lambert, R M

1986-11-01

Studies using haptic form recognition tasks have generally concluded that the adventitiously blind perform better than the congenitally blind, implicating the importance of early visual experience in improved spatial functioning. The hypothesis was tested that the adventitiously blind have retained some ability to encode successive information obtained haptically in terms of a global visual representation, while the congenitally blind use a coding system based on successive inputs. Eighteen blind (adventitiously and congenitally) and 18 sighted (blindfolded and performing with vision) subjects were tested on their recognition of raised line patterns when the standard was presented in segments: in immediate succession, or with unfilled intersegmental delays of 5, 10, or 15 seconds. The results did not support the above hypothesis. Three main findings were obtained: normally sighted subjects were both faster and more accurate than the other groups; all groups improved in accuracy of recognition as a function of length of interstimulus interval; sighted subjects tended to report using strategies with a strong verbal component while the blind tended to rely on imagery coding. These results are explained in terms of information-processing theory consistent with dual encoding systems in working memory.

Augmented kinematic feedback from haptic virtual reality for dental skill acquisition.

Science.gov (United States)

Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Jittimanee, Pannapa; Viratket, Piyanuch

2010-12-01

We have developed a haptic virtual reality system for dental skill training. In this study we examined several kinds of kinematic information about the movement provided by the system supplement knowledge of results (KR) in dental skill acquisition. The kinematic variables examined involved force utilization (F) and mirror view (M). This created three experimental conditions that received augmented kinematic feedback (F, M, FM) and one control condition that did not (KR-only). Thirty-two dental students were randomly assigned to four groups. Their task was to perform access opening on the upper first molar with the haptic virtual reality system. An acquisition session consisted of two days of ten trials of practice in which augmented kinematic feedback was provided for the appropriate experimental conditions after each trial. One week after, a retention test consisting of two trials without augmented feedback was completed. The results showed that the augmented kinematic feedback groups had larger mean performance scores than the KR-only group in Day 1 of the acquisition and retention sessions (ANOVA, p0.05). The trends in acquisition and retention sessions suggest that the augmented kinematic feedback can enhance the performance earlier in the skill acquisition and retention sessions.

Virtual haptic system for intuitive planning of bone fixation plate placement

Directory of Open Access Journals (Sweden)

Kup-Sze Choi

2017-01-01

Full Text Available Placement of pre-contoured fixation plate is a common treatment for bone fracture. Fitting of fixation plates on fractured bone can be preoperatively planned and evaluated in 3D virtual environment using virtual reality technology. However, conventional systems usually employ 2D mouse and virtual trackball as the user interface, which makes the process inconvenient and inefficient. In the paper, a preoperative planning system equipped with 3D haptic user interface is proposed to allow users to manipulate the virtual fixation plate intuitively to determine the optimal position for placement on distal medial tibia. The system provides interactive feedback forces and visual guidance based on the geometric requirements. Creation of 3D models from medical imaging data, collision detection, dynamics simulation and haptic rendering are discussed. The system was evaluated by 22 subjects. Results show that the time to achieve optimal placement using the proposed system was shorter than that by using 2D mouse and virtual trackball, and the satisfaction rating was also higher. The system shows potential to facilitate the process of fitting fixation plates on fractured bones as well as interactive fixation plate design.

Portable haptic interface with omni-directional movement and force capability.

Science.gov (United States)

Avizzano, Carlo Alberto; Satler, Massimo; Ruffaldi, Emanuele

2014-01-01

We describe the design of a new mobile haptic interface that employs wheels for force rendering. The interface, consisting of an omni-directional Killough type platform, provides 2DOF force feedback with different control modalities. The system autonomously performs sensor fusion for localization and force rendering. This paper explains the relevant choices concerning the functional aspects, the control design, the mechanical and electronic solution. Experimental results for force feedback characterization are reported.

The speed-curvature power law of movements: a reappraisal.

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Zago, Myrka; Matic, Adam; Flash, Tamar; Gomez-Marin, Alex; Lacquaniti, Francesco

2018-01-01

Several types of curvilinear movements obey approximately the so called 2/3 power law, according to which the angular speed varies proportionally to the 2/3 power of the curvature. The origin of the law is debated but it is generally thought to depend on physiological mechanisms. However, a recent paper (Marken and Shaffer, Exp Brain Res 88:685-690, 2017) claims that this power law is simply a statistical artifact, being a mathematical consequence of the way speed and curvature are calculated. Here we reject this hypothesis by showing that the speed-curvature power law of biological movements is non-trivial. First, we confirm that the power exponent varies with the shape of human drawing movements and with environmental factors. Second, we report experimental data from Drosophila larvae demonstrating that the power law does not depend on how curvature is calculated. Third, we prove that the law can be violated by means of several mathematical and physical examples. Finally, we discuss biological constraints that may underlie speed-curvature power laws discovered in empirical studies.

Extrinsic and intrinsic curvatures in thermodynamic geometry

Energy Technology Data Exchange (ETDEWEB)

Hosseini Mansoori, Seyed Ali, E-mail: shossein@bu.edu [Department of Physics, Boston University, 590 Commonwealth Ave., Boston, MA 02215 (United States); Department of Physics, Isfahan University of Technology, Isfahan 84156-83111 (Iran, Islamic Republic of); Mirza, Behrouz, E-mail: b.mirza@cc.iut.ac.ir [Department of Physics, Isfahan University of Technology, Isfahan 84156-83111 (Iran, Islamic Republic of); Sharifian, Elham, E-mail: e.sharifian@ph.iut.ac.ir [Department of Physics, Isfahan University of Technology, Isfahan 84156-83111 (Iran, Islamic Republic of)

2016-08-10

We investigate the intrinsic and extrinsic curvatures of a certain hypersurface in thermodynamic geometry of a physical system and show that they contain useful thermodynamic information. For an anti-Reissner–Nordström-(A)de Sitter black hole (Phantom), the extrinsic curvature of a constant Q hypersurface has the same sign as the heat capacity around the phase transition points. The intrinsic curvature of the hypersurface can also be divergent at the critical points but has no information about the sign of the heat capacity. Our study explains the consistent relationship holding between the thermodynamic geometry of the KN-AdS black holes and those of the RN (J-zero hypersurface) and Kerr black holes (Q-zero hypersurface) ones [1]. This approach can easily be generalized to an arbitrary thermodynamic system.

Extrinsic and intrinsic curvatures in thermodynamic geometry

International Nuclear Information System (INIS)

Hosseini Mansoori, Seyed Ali; Mirza, Behrouz; Sharifian, Elham

2016-01-01

We investigate the intrinsic and extrinsic curvatures of a certain hypersurface in thermodynamic geometry of a physical system and show that they contain useful thermodynamic information. For an anti-Reissner–Nordström-(A)de Sitter black hole (Phantom), the extrinsic curvature of a constant Q hypersurface has the same sign as the heat capacity around the phase transition points. The intrinsic curvature of the hypersurface can also be divergent at the critical points but has no information about the sign of the heat capacity. Our study explains the consistent relationship holding between the thermodynamic geometry of the KN-AdS black holes and those of the RN (J-zero hypersurface) and Kerr black holes (Q-zero hypersurface) ones [1]. This approach can easily be generalized to an arbitrary thermodynamic system.

Positive spatial curvature does not falsify the landscape

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Horn, B.

2017-12-01

We present a simple cosmological model where the quantum tunneling of a scalar field rearranges the energetics of the matter sector, sending a stable static ancestor vacuum with positive spatial curvature into an inating solution with positive curvature. This serves as a proof of principle that an observation of positive spatial curvature does not falsify the hypothesis that our current observer patch originated from false vacuum tunneling in a string or field theoretic landscape. This poster submission is a summary of the work, and was presented at the 3rd annual ICPPA held in Moscow from October 2 to 5, 2017, by Prof. Rostislav Konoplich on behalf of the author.

Curvature perturbation and waterfall dynamics in hybrid inflation

International Nuclear Information System (INIS)

Abolhasani, Ali Akbar; Firouzjahi, Hassan; Sasaki, Misao

2011-01-01

We investigate the parameter spaces of hybrid inflation model with special attention paid to the dynamics of waterfall field and curvature perturbations induced from its quantum fluctuations. Depending on the inflaton field value at the time of phase transition and the sharpness of the phase transition inflation can have multiple extended stages. We find that for models with mild phase transition the induced curvature perturbation from the waterfall field is too large to satisfy the COBE normalization. We investigate the model parameter space where the curvature perturbations from the waterfall quantum fluctuations vary between the results of standard hybrid inflation and the results obtained here

Curvature perturbation and waterfall dynamics in hybrid inflation

Energy Technology Data Exchange (ETDEWEB)

Abolhasani, Ali Akbar [Department of Physics, Sharif University of Technology, Tehran (Iran, Islamic Republic of); Firouzjahi, Hassan [School of Physics, Institute for Research in Fundamental Sciences (IPM), P.O. Box 19395-5531, Tehran (Iran, Islamic Republic of); Sasaki, Misao, E-mail: abolhasani@mail.ipm.ir, E-mail: firouz@mail.ipm.ir, E-mail: misao@yukawa.kyoto-u.ac.jp [Yukawa Institute for Theoretical Physics, Kyoto University, Kyoto 606-8502 (Japan)

2011-10-01

We investigate the parameter spaces of hybrid inflation model with special attention paid to the dynamics of waterfall field and curvature perturbations induced from its quantum fluctuations. Depending on the inflaton field value at the time of phase transition and the sharpness of the phase transition inflation can have multiple extended stages. We find that for models with mild phase transition the induced curvature perturbation from the waterfall field is too large to satisfy the COBE normalization. We investigate the model parameter space where the curvature perturbations from the waterfall quantum fluctuations vary between the results of standard hybrid inflation and the results obtained here.

Influence of implant rod curvature on sagittal correction of scoliosis deformity.

Science.gov (United States)

Salmingo, Remel Alingalan; Tadano, Shigeru; Abe, Yuichiro; Ito, Manabu

2014-08-01

Deformation of in vivo-implanted rods could alter the scoliosis sagittal correction. To our knowledge, no previous authors have investigated the influence of implanted-rod deformation on the sagittal deformity correction during scoliosis surgery. To analyze the changes of the implant rod's angle of curvature during surgery and establish its influence on sagittal correction of scoliosis deformity. A retrospective analysis of the preoperative and postoperative implant rod geometry and angle of curvature was conducted. Twenty adolescent idiopathic scoliosis patients underwent surgery. Average age at the time of operation was 14 years. The preoperative and postoperative implant rod angle of curvature expressed in degrees was obtained for each patient. Two implant rods were attached to the concave and convex side of the spinal deformity. The preoperative implant rod geometry was measured before surgical implantation. The postoperative implant rod geometry after surgery was measured by computed tomography. The implant rod angle of curvature at the sagittal plane was obtained from the implant rod geometry. The angle of curvature between the implant rod extreme ends was measured before implantation and after surgery. The sagittal curvature between the corresponding spinal levels of healthy adolescents obtained by previous studies was compared with the implant rod angle of curvature to evaluate the sagittal curve correction. The difference between the postoperative implant rod angle of curvature and normal spine sagittal curvature of the corresponding instrumented level was used to evaluate over or under correction of the sagittal deformity. The implant rods at the concave side of deformity of all patients were significantly deformed after surgery. The average degree of rod deformation Δθ at the concave and convex sides was 15.8° and 1.6°, respectively. The average preoperative and postoperative implant rod angle of curvature at the concave side was 33.6° and 17.8�

Bacterial cell curvature through mechanical control of cell growth

DEFF Research Database (Denmark)

Cabeen, M.; Charbon, Godefroid; Vollmer, W.

2009-01-01

The cytoskeleton is a key regulator of cell morphogenesis. Crescentin, a bacterial intermediate filament-like protein, is required for the curved shape of Caulobacter crescentus and localizes to the inner cell curvature. Here, we show that crescentin forms a single filamentous structure...... that collapses into a helix when detached from the cell membrane, suggesting that it is normally maintained in a stretched configuration. Crescentin causes an elongation rate gradient around the circumference of the sidewall, creating a longitudinal cell length differential and hence curvature. Such curvature...... can be produced by physical force alone when cells are grown in circular microchambers. Production of crescentin in Escherichia coli is sufficient to generate cell curvature. Our data argue for a model in which physical strain borne by the crescentin structure anisotropically alters the kinetics...

Discrimination of curvature from motion during smooth pursuit eye movements and fixation.

Science.gov (United States)

Ross, Nicholas M; Goettker, Alexander; Schütz, Alexander C; Braun, Doris I; Gegenfurtner, Karl R

2017-09-01

Smooth pursuit and motion perception have mainly been investigated with stimuli moving along linear trajectories. Here we studied the quality of pursuit movements to curved motion trajectories in human observers and examined whether the pursuit responses would be sensitive enough to discriminate various degrees of curvature. In a two-interval forced-choice task subjects pursued a Gaussian blob moving along a curved trajectory and then indicated in which interval the curve was flatter. We also measured discrimination thresholds for the same curvatures during fixation. Motion curvature had some specific effects on smooth pursuit properties: trajectories with larger amounts of curvature elicited lower open-loop acceleration, lower pursuit gain, and larger catch-up saccades compared with less curved trajectories. Initially, target motion curvatures were underestimated; however, ∼300 ms after pursuit onset pursuit responses closely matched the actual curved trajectory. We calculated perceptual thresholds for curvature discrimination, which were on the order of 1.5 degrees of visual angle (°) for a 7.9° curvature standard. Oculometric sensitivity to curvature discrimination based on the whole pursuit trajectory was quite similar to perceptual performance. Oculometric thresholds based on smaller time windows were higher. Thus smooth pursuit can quite accurately follow moving targets with curved trajectories, but temporal integration over longer periods is necessary to reach perceptual thresholds for curvature discrimination. NEW & NOTEWORTHY Even though motion trajectories in the real world are frequently curved, most studies of smooth pursuit and motion perception have investigated linear motion. We show that pursuit initially underestimates the curvature of target motion and is able to reproduce the target curvature ∼300 ms after pursuit onset. Temporal integration of target motion over longer periods is necessary for pursuit to reach the level of precision found

Expressions for optical scalars and deflection angle at second order in terms of curvature scalars

Science.gov (United States)

Crisnejo, Gabriel; Gallo, Emanuel

2018-04-01

We present formal expressions for the optical scalars in terms of the curvature scalars in the weak gravitational lensing regime at second order in perturbations of a flat background without mentioning the extension of the lens or their shape. Also, by considering the thin lens approximation for static and axially symmetric configurations we obtain an expression for the second-order deflection angle which generalizes our previous result presented by Gallo and Moreschi [Phys. Rev. D 83, 083007 (2011)., 10.1103/PhysRevD.83.083007]. As applications of these formulas we compute the optical scalars for some known family of metrics, and we recover expressions for the deflection angle. In contrast to other works in the subject, our formalism allows a straightforward identification of how the different components of the curvature tensor contribute to the optical scalars and deflection angle. We also discuss in what sense the Schwarzschild solution can be thought as a true thin lens at second order.

The role of curvature in silica mesoporous crystals

KAUST Repository

Miyasaka, Keiichi

2012-02-08

Silica mesoporous crystals (SMCs) offer a unique opportunity to study micellar mesophases. Replication of non-equilibrium mesophases into porous silica structures allows the characterization of surfactant phases under a variety of chemical and physical perturbations, through methods not typically accessible to liquid crystal chemists. A poignant example is the use of electron microscopy and crystallography, as discussed herein, for the purpose of determining the fundamental role of amphiphile curvature, namely mean curvature and Gaussian curvature, which have been extensively studied in various fields such as polymer, liquid crystal, biological membrane, etc. The present work aims to highlight some current studies devoted to the interface curvature on SMCs, in which electron microscopy and electron crystallography (EC) are used to understand the geometry of silica wall surface in bicontinuous and cage-type mesostructures through the investigation of electrostatic potential maps. Additionally, we show that by altering the synthesis conditions during the preparation of SMCs, it is possible to isolate particles during micellar mesophase transformations in the cubic bicontinuous system, allowing us to view and study epitaxial relations under the specific synthesis conditions. By studying the relationship between mesoporous structure, interface curvature and micellar mesophases using electron microscopy and EC, we hope to bring new insights into the formation mechanism of these unique materials but also contribute a new way of understanding periodic liquid crystal systems. © 2012 The Royal Society.

The role of curvature in silica mesoporous crystals

KAUST Repository

Miyasaka, Keiichi; Bennett, Alfonso Garcia; Han, Lu; Han, Yu; Xiao, Changhong; Fujita, Nobuhisa; Castle, Toen; Sakamoto, Yasuhiro; Che, Shunai; Terasaki, Osamu

2012-01-01

Silica mesoporous crystals (SMCs) offer a unique opportunity to study micellar mesophases. Replication of non-equilibrium mesophases into porous silica structures allows the characterization of surfactant phases under a variety of chemical and physical perturbations, through methods not typically accessible to liquid crystal chemists. A poignant example is the use of electron microscopy and crystallography, as discussed herein, for the purpose of determining the fundamental role of amphiphile curvature, namely mean curvature and Gaussian curvature, which have been extensively studied in various fields such as polymer, liquid crystal, biological membrane, etc. The present work aims to highlight some current studies devoted to the interface curvature on SMCs, in which electron microscopy and electron crystallography (EC) are used to understand the geometry of silica wall surface in bicontinuous and cage-type mesostructures through the investigation of electrostatic potential maps. Additionally, we show that by altering the synthesis conditions during the preparation of SMCs, it is possible to isolate particles during micellar mesophase transformations in the cubic bicontinuous system, allowing us to view and study epitaxial relations under the specific synthesis conditions. By studying the relationship between mesoporous structure, interface curvature and micellar mesophases using electron microscopy and EC, we hope to bring new insights into the formation mechanism of these unique materials but also contribute a new way of understanding periodic liquid crystal systems. © 2012 The Royal Society.

Single Lipid Molecule Dynamics on Supported Lipid Bilayers with Membrane Curvature

Directory of Open Access Journals (Sweden)

Philip P. Cheney

2017-03-01

Full Text Available The plasma membrane is a highly compartmentalized, dynamic material and this organization is essential for a wide variety of cellular processes. Nanoscale domains allow proteins to organize for cell signaling, endo- and exocytosis, and other essential processes. Even in the absence of proteins, lipids have the ability to organize into domains as a result of a variety of chemical and physical interactions. One feature of membranes that affects lipid domain formation is membrane curvature. To directly test the role of curvature in lipid sorting, we measured the accumulation of two similar lipids, 1,2-Dihexadecanoyl-sn-glycero-3-phosphoethanolamine (DHPE and hexadecanoic acid (HDA, using a supported lipid bilayer that was assembled over a nanopatterned surface to obtain regions of membrane curvature. Both lipids studied contain 16 carbon, saturated tails and a head group tag for fluorescence microscopy measurements. The accumulation of lipids at curvatures ranging from 28 nm to 55 nm radii was measured and fluorescein labeled DHPE accumulated more than fluorescein labeled HDA at regions of membrane curvature. We then tested whether single biotinylated DHPE molecules sense curvature using single particle tracking methods. Similar to groups of fluorescein labeled DHPE accumulating at curvature, the dynamics of single molecules of biotinylated DHPE was also affected by membrane curvature and highly confined motion was observed.

New curvature-torsion relations through decomposition of the Bianchi identities

International Nuclear Information System (INIS)

Davies, J.B.

1988-01-01

The Bianchi Identities relating asymmetric curvature to torsion are obtained as a new set of equations governing second-order curvature tensors. The usual contribution of symmetric curvature to the gravitational field is found to be a subset of these identities though with an added contribution due to torsion gradients. The antisymmetric curvature two-tensor is shown to be related to the divergence of the torsion. Using a model of particle-antiparticle pair production, identification of certain torsion components with electroweak fields is proposed. These components obey equations, similar to Maxwell's that are subsets of these linear Bianchi identities. These results are shown to be consistent with gauge and other previous analyses

Effects on Buildings of Surface Curvature Caused by Underground Coal Mining

Directory of Open Access Journals (Sweden)

Haifeng Hu

2016-08-01

Full Text Available Ground curvature caused by underground mining is one of the most obvious deformation quantities in buildings. To study the influence of surface curvature on buildings and predict the movement and deformation of buildings caused by ground curvature, a prediction model of the influence function on mining subsidence was used to establish the relationship between surface curvature and wall deformation. The prediction model of wall deformation was then established and the surface curvature was obtained from mining subsidence prediction software. Five prediction lines were set up in the wall from bottom to top and the predicted deformation of each line was used to calculate the crack positions in the wall. Thus, the crack prediction model was obtained. The model was verified by a case study from a coalmine in Shanxi, China. The results show that when the ground curvature is positive, the crack in the wall is shaped like a “V”; when the ground curvature is negative, the crack is shaped like a “∧”. The conclusion provides the basis for a damage evaluation method for buildings in coalmine areas.

Advanced Curvature Deformable Mirrors

Science.gov (United States)

2010-09-01

ORGANIZATION NAME(S) AND ADDRESS(ES) University of Hawaii ,Institute for Astronomy,640 North A‘ohoku Place, #209 , Hilo ,HI,96720-2700 8. PERFORMING...Advanced Curvature Deformable Mirrors Christ Ftaclas1,2, Aglae Kellerer2 and Mark Chun2 Institute for Astronomy, University of Hawaii

Effect of nano-scale curvature on the intrinsic blood coagulation system

Science.gov (United States)

Kushida, Takashi; Saha, Krishnendu; Subramani, Chandramouleeswaran; Nandwana, Vikas; Rotello, Vincent M.

2014-01-01

The intrinsic coagulation activity of silica nanoparticles strongly depends on their surface curvature. Nanoparticles with higher surface curvature do not denature blood coagulation factor XII on its surface, providing a coagulation ‘silent’ surface, while nanoparticles with lower surface curvature shows denaturation and concomitant coagulation. PMID:25341004

A geometric construction of the Riemann scalar curvature in Regge calculus

International Nuclear Information System (INIS)

McDonald, Jonathan R; Miller, Warner A

2008-01-01

The Riemann scalar curvature plays a central role in Einstein's geometric theory of gravity. We describe a new geometric construction of this scalar curvature invariant at an event (vertex) in a discrete spacetime geometry. This allows one to constructively measure the scalar curvature using only clocks and photons. Given recent interest in discrete pre-geometric models of quantum gravity, we believe is it ever so important to reconstruct the curvature scalar with respect to a finite number of communicating observers. This derivation makes use of a new fundamental lattice cell built from elements inherited from both the original simplicial (Delaunay) spacetime and its circumcentric dual (Voronoi) lattice. The orthogonality properties between these two lattices yield an expression for the vertex-based scalar curvature which is strikingly similar to the corresponding hinge-based expression in Regge calculus (deficit angle per unit Voronoi dual area). In particular, we show that the scalar curvature is simply a vertex-based weighted average of deficits per weighted average of dual areas

A geometric construction of the Riemann scalar curvature in Regge calculus

Science.gov (United States)

McDonald, Jonathan R.; Miller, Warner A.

2008-10-01

The Riemann scalar curvature plays a central role in Einstein's geometric theory of gravity. We describe a new geometric construction of this scalar curvature invariant at an event (vertex) in a discrete spacetime geometry. This allows one to constructively measure the scalar curvature using only clocks and photons. Given recent interest in discrete pre-geometric models of quantum gravity, we believe is it ever so important to reconstruct the curvature scalar with respect to a finite number of communicating observers. This derivation makes use of a new fundamental lattice cell built from elements inherited from both the original simplicial (Delaunay) spacetime and its circumcentric dual (Voronoi) lattice. The orthogonality properties between these two lattices yield an expression for the vertex-based scalar curvature which is strikingly similar to the corresponding hinge-based expression in Regge calculus (deficit angle per unit Voronoi dual area). In particular, we show that the scalar curvature is simply a vertex-based weighted average of deficits per weighted average of dual areas.

Model-independent Constraints on Cosmic Curvature and Opacity

Energy Technology Data Exchange (ETDEWEB)

Wang, Guo-Jian; Li, Zheng-Xiang; Xia, Jun-Qing; Zhu, Zong-Hong [Department of Astronomy, Beijing Normal University, Beijing 100875 (China); Wei, Jun-Jie, E-mail: gjwang@mail.bnu.edu.cn, E-mail: zxli918@bnu.edu.cn, E-mail: xiajq@bnu.edu.cn, E-mail: zhuzh@bnu.edu.cn, E-mail: jjwei@pmo.ac.cn [Purple Mountain Observatory, Chinese Academy of Sciences, Nanjing 210008 (China)

2017-09-20

In this paper, we propose to estimate the spatial curvature of the universe and the cosmic opacity in a model-independent way with expansion rate measurements, H ( z ), and type Ia supernova (SNe Ia). On the one hand, using a nonparametric smoothing method Gaussian process, we reconstruct a function H ( z ) from opacity-free expansion rate measurements. Then, we integrate the H ( z ) to obtain distance modulus μ {sub H}, which is dependent on the cosmic curvature. On the other hand, distances of SNe Ia can be determined by their photometric observations and thus are opacity-dependent. In our analysis, by confronting distance moduli μ {sub H} with those obtained from SNe Ia, we achieve estimations for both the spatial curvature and the cosmic opacity without any assumptions for the cosmological model. Here, it should be noted that light curve fitting parameters, accounting for the distance estimation of SNe Ia, are determined in a global fit together with the cosmic opacity and spatial curvature to get rid of the dependence of these parameters on cosmology. In addition, we also investigate whether the inclusion of different priors for the present expansion rate ( H {sub 0}: global estimation, 67.74 ± 0.46 km s{sup −1} Mpc{sup −1}, and local measurement, 73.24 ± 1.74 km s{sup −1} Mpc{sup −1}) exert influence on the reconstructed H ( z ) and the following estimations of the spatial curvature and cosmic opacity. Results show that, in general, a spatially flat and transparent universe is preferred by the observations. Moreover, it is suggested that priors for H {sub 0} matter a lot. Finally, we find that there is a strong degeneracy between the curvature and the opacity.

Long-term Results of Ventral Penile Curvature Repair in Childhood.

Science.gov (United States)

Golomb, Dor; Sivan, Bezalel; Livne, Pinhas M; Nevo, Amihay; Ben-Meir, David

2018-02-01

To assess the postpubertal outcome of ventral penile curvature repaired in infancy in terms of recurrence and aesthetics. Postpubertal patients treated for hypospadias and ventral penile curvature in infancy at a tertiary medical center were invited to undergo assessment of the quality of the repair. Findings were compared between patients with a straight penis after skin release and patients who required dorsal plication. The cohort included 27 patients of mean age 16.5 years who were reported with straight penis after surgery. Postpubertal curvature was found in 6 of 14 patients (43%) successfully treated by skin release and 10 of 13 patients (77%) who underwent dorsal plication (P = .087). Significant curvature (≥30 degrees) was found in 1 of 14 patients in the skin-release group and 4 of 13 in the dorsal plication group (P = .16). Rates of redo urethroplasty were 2 of 14 (14%) and 5 of 10 (50%), respectively. Patient satisfaction with the appearance of the penis did not differ significantly. Ventral penile curvature repaired in infancy often recurs after puberty. The need for dorsal plication has a trend-level association with recurrence of penile curvature in puberty. It might also be related to the degree of postpubertal penile curvature and the need for redo urethroplasty. Procedure type does not affect patient satisfaction with the postpubertal appearance of the penis. Copyright © 2017 Elsevier Inc. All rights reserved.

New geometric data structures for collision detection and haptics

CERN Document Server

Weller, René

2013-01-01

Starting with novel algorithms for optimally updating bounding volume hierarchies of objects undergoing arbitrary deformations, the author presents a new data structure that allows, for the first time, the computation of the penetration volume. The penetration volume is related to the water displacement of the overlapping region, and thus corresponds to a physically motivated and continuous force. The practicability of the approaches used is shown by realizing new applications in the field of robotics and haptics, including a user study that evaluates the influence of the degrees of freedom in

On the scalar curvature of self-dual manifolds

International Nuclear Information System (INIS)

Kim, J.

1992-08-01

We generalize LeBrun's explicit ''hyperbolic ansatz'' construction of self-dual metrics on connected sums of conformally flat manifolds and CP 2 's through a systematic use of the theory of hyperbolic geometry and Kleinian groups. (This construction produces, for example, all self-dual manifolds with semi-free S 1 -action and with either nonnegative scalar curvature or positive-definite intersection form.) We then point out a simple criterion for determining the sign of the scalar curvature of these conformal metrics. Exploiting this, we then show that the sign of the scalar curvature can change on connected components of the moduli space of self-dual metrics, thereby answering a question raised by King and Kotschick. (author). Refs

On a curvature-statistics theorem

International Nuclear Information System (INIS)

Calixto, M; Aldaya, V

2008-01-01

The spin-statistics theorem in quantum field theory relates the spin of a particle to the statistics obeyed by that particle. Here we investigate an interesting correspondence or connection between curvature (κ = ±1) and quantum statistics (Fermi-Dirac and Bose-Einstein, respectively). The interrelation between both concepts is established through vacuum coherent configurations of zero modes in quantum field theory on the compact O(3) and noncompact O(2; 1) (spatial) isometry subgroups of de Sitter and Anti de Sitter spaces, respectively. The high frequency limit, is retrieved as a (zero curvature) group contraction to the Newton-Hooke (harmonic oscillator) group. We also make some comments on the physical significance of the vacuum energy density and the cosmological constant problem.

On a curvature-statistics theorem

Energy Technology Data Exchange (ETDEWEB)

Calixto, M [Departamento de Matematica Aplicada y Estadistica, Universidad Politecnica de Cartagena, Paseo Alfonso XIII 56, 30203 Cartagena (Spain); Aldaya, V [Instituto de Astrofisica de Andalucia, Apartado Postal 3004, 18080 Granada (Spain)], E-mail: Manuel.Calixto@upct.es

2008-08-15

The spin-statistics theorem in quantum field theory relates the spin of a particle to the statistics obeyed by that particle. Here we investigate an interesting correspondence or connection between curvature ({kappa} = {+-}1) and quantum statistics (Fermi-Dirac and Bose-Einstein, respectively). The interrelation between both concepts is established through vacuum coherent configurations of zero modes in quantum field theory on the compact O(3) and noncompact O(2; 1) (spatial) isometry subgroups of de Sitter and Anti de Sitter spaces, respectively. The high frequency limit, is retrieved as a (zero curvature) group contraction to the Newton-Hooke (harmonic oscillator) group. We also make some comments on the physical significance of the vacuum energy density and the cosmological constant problem.

Intensity-Curvature Measurement Approaches for the Diagnosis of Magnetic Resonance Imaging Brain Tumors

Directory of Open Access Journals (Sweden)

Carlo Ciulla

2015-11-01

Full Text Available This research presents signal-image post-processing techniques called Intensity-Curvature Measurement Approaches with application to the diagnosis of human brain tumors detected through Magnetic Resonance Imaging (MRI. Post-processing of the MRI of the human brain encompasses the following model functions: (i bivariate cubic polynomial, (ii bivariate cubic Lagrange polynomial, (iii monovariate sinc, and (iv bivariate linear. The following Intensity-Curvature Measurement Approaches were used: (i classic-curvature, (ii signal resilient to interpolation, (iii intensity-curvature measure and (iv intensity-curvature functional. The results revealed that the classic-curvature, the signal resilient to interpolation and the intensity-curvature functional are able to add additional information useful to the diagnosis carried out with MRI. The contribution to the MRI diagnosis of our study are: (i the enhanced gray level scale of the tumor mass and the well-behaved representation of the tumor provided through the signal resilient to interpolation, and (ii the visually perceptible third dimension perpendicular to the image plane provided through the classic-curvature and the intensity-curvature functional.

Can a Soft Robotic Probe Use Stiffness Control Like a Human Finger to Improve Efficacy of Haptic Perception?

Science.gov (United States)

Sornkarn, Nantachai; Nanayakkara, Thrishantha

2017-01-01

When humans are asked to palpate a soft tissue to locate a hard nodule, they regulate the stiffness, speed, and force of the finger during examination. If we understand the relationship between these behavioral variables and haptic information gain (transfer entropy) during manual probing, we can improve the efficacy of soft robotic probes for soft tissue palpation, such as in tumor localization in minimally invasive surgery. Here, we recorded the muscle co-contraction activity of the finger using EMG sensors to address the question as to whether joint stiffness control during manual palpation plays an important role in the haptic information gain. To address this question, we used a soft robotic probe with a controllable stiffness joint and a force sensor mounted at the base to represent the function of the tendon in a biological finger. Then, we trained a Markov chain using muscle co-contraction patterns of human subjects, and used it to control the stiffness of the soft robotic probe in the same soft tissue palpation task. The soft robotic experiments showed that haptic information gain about the depth of the hard nodule can be maximized by varying the internal stiffness of the soft probe.

Should drivers be operating within an automation-free bandwidth? Evaluating haptic steering support systems with different levels of authority.

Science.gov (United States)

Petermeijer, Sebastiaan M; Abbink, David A; de Winter, Joost C F

2015-02-01

The aim of this study was to compare continuous versus bandwidth haptic steering guidance in terms of lane-keeping behavior, aftereffects, and satisfaction. An important human factors question is whether operators should be supported continuously or only when tolerance limits are exceeded. We aimed to clarify this issue for haptic steering guidance by investigating costs and benefits of both approaches in a driving simulator. Thirty-two participants drove five trials, each with a different level of haptic support: no guidance (Manual); guidance outside a 0.5-m bandwidth (Band1); a hysteresis version of Band1, which guided back to the lane center once triggered (Band2); continuous guidance (Cont); and Cont with double feedback gain (ContS). Participants performed a reaction time task while driving. Toward the end of each trial, the guidance was unexpectedly disabled to investigate aftereffects. All four guidance systems prevented large lateral errors (>0.7 m). Cont and especially ContS yielded smaller lateral errors and higher time to line crossing than Manual, Band1, and Band2. Cont and ContS yielded short-lasting aftereffects, whereas Band1 and Band2 did not. Cont yielded higher self-reported satisfaction and faster reaction times than Band1. Continuous and bandwidth guidance both prevent large driver errors. Continuous guidance yields improved performance and satisfaction over bandwidth guidance at the cost of aftereffects and variability in driver torque (indicating human-automation conflicts). The presented results are useful for designers of haptic guidance systems and support critical thinking about the costs and benefits of automation support systems.

Statistical mechanics of surfaces with curvature dependent action

International Nuclear Information System (INIS)

Jonsson, T.

1987-01-01

We review recent results about discretized random surfaces whose action (energy) depends on the extrinsic curvature. The surface tension scales to zero at an appropriate critical point if the coupling constant of the curvature term is taken to infinity. At this critical point one expects to be able to construct a continuum theory of smooth surfaces. (orig.)

A 1 + 5-dimensional gravitational-wave solution. Curvature singularity and spacetime singularity

Energy Technology Data Exchange (ETDEWEB)

Chen, Yu-Zhu [Tianjin University, Department of Physics, Tianjin (China); Li, Wen-Du [Tianjin University, Department of Physics, Tianjin (China); Nankai University, Theoretical Physics Division, Chern Institute of Mathematics, Tianjin (China); Dai, Wu-Sheng [Nankai University, Theoretical Physics Division, Chern Institute of Mathematics, Tianjin (China); Nankai University and Tianjin University, LiuHui Center for Applied Mathematics, Tianjin (China)

2017-12-15

We solve a 1 + 5-dimensional cylindrical gravitational-wave solution of the Einstein equation, in which there are two curvature singularities. Then we show that one of the curvature singularities can be removed by an extension of the spacetime. The result exemplifies that the curvature singularity is not always a spacetime singularity; in other words, the curvature singularity cannot serve as a criterion for spacetime singularities. (orig.)

An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device.

Science.gov (United States)

Su, Hao; Shang, Weijian; Li, Gang; Patel, Niravkumar; Fischer, Gregory S

2017-08-01

This paper presents a surgical master-slave teleoperation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. The slave robot consists of a piezoelectrically actuated 6-degree-of-freedom (DOF) robot for needle placement with an integrated fiber optic force sensor (1-DOF axial force measurement) using the Fabry-Perot interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging. By leveraging the advantages of pneumatic and piezoelectric actuation in force and position control respectively, we have designed a pneumatically actuated master robot (haptic device) with strain gauge based force sensing that is configured to operate the slave from within the scanner room during imaging. The slave robot follows the insertion motion of the haptic device while the haptic device displays the needle insertion force as measured by the FPI sensor. Image interference evaluation demonstrates that the telesurgery system presents a signal to noise ratio reduction of less than 17% and less than 1% geometric distortion during simultaneous robot motion and imaging. Teleoperated needle insertion and rotation experiments were performed to reach 10 targets in a soft tissue-mimicking phantom with 0.70 ± 0.35 mm Cartesian space error.

A function-behavior-structure framework for quantification and reproduction of emotional haptic experience in using an electronic device

International Nuclear Information System (INIS)

Bae, Il Ju; Lee, Soo Hong; Ok, Hyung Seok; Lee, Jae In

2013-01-01

A user's haptic experience in using an electronic device is related to the continuous and dynamic variances of the structural state of the device. Since the changes of the structural component cause complex changes of the dynamics, it is difficult to predict the user's experience. We propose a function-behavior-structure framework to predict and improve the user's experience. The framework consists of the function layer model, the behavior layer model, and the structure layer model. Especially, the independent behavior model to the device is based on a physical phenomenon. Finally, an optimized structure which produces an ideal haptic experience for a cell phone is suggested.

Numerical and Theoretical Investigations Concerning the Continuous-Surface-Curvature Effect in Compressor Blades

Directory of Open Access Journals (Sweden)

Yin Song

2014-12-01

Full Text Available Though the importance of curvature continuity on compressor blade performances has been realized, there are two major questions that need to be solved, i.e., the respective effects of curvature continuity at the leading-edge blend point and the main surface, and the contradiction between the traditional theory and experimental observations in the effect of those novel leading-edge shapes with smaller curvature discontinuity and sharper nose. In this paper, an optimization method to design continuous-curvature blade profiles which deviate little from datum blades is proposed, and numerical and theoretical analysis is carried out to investigate the continuous-curvature effect on blade performances. The results show that the curvature continuity at the leading-edge blend point helps to eliminate the separation bubble, thus improving the blade performance. The main-surface curvature continuity is also beneficial, although its effects are much smaller than those of the blend-point curvature continuity. Furthermore, it is observed that there exist two factors controlling the leading-edge spike, i.e., the curvature discontinuity at the blend point which dominates at small incidences, and the nose curvature which dominates at large incidences. To the authors’ knowledge, such mechanisms have not been reported before, and they can help to solve the sharp-leading-edge paradox.

Grounded Learning Experience: Helping Students Learn Physics through Visuo-Haptic Priming and Instruction

Science.gov (United States)

Huang, Shih-Chieh Douglas

2013-01-01

In this dissertation, I investigate the effects of a grounded learning experience on college students' mental models of physics systems. The grounded learning experience consisted of a priming stage and an instruction stage, and within each stage, one of two different types of visuo-haptic representation was applied: visuo-gestural simulation…

Fiber optical sensor system for shape and haptics for flexible instruments in minimally invasive surgery: overview and status quo

Science.gov (United States)

Ledermann, Christoph; Pauer, Hendrikje; Woern, Heinz

2014-05-01

In minimally invasive surgery, exible mechatronic instruments promise to improve the overall performance of surgical interventions. However, those instruments require highly developed sensors in order to provide haptic feedback to the surgeon or to enable (semi-)autonomous tasks. Precisely, haptic sensors and a shape sensor are required. In this paper, we present our ber optical sensor system of Fiber Bragg Gratings, which consists of a shape sensor, a kinesthetic sensor and a tactile sensor. The status quo of each of the three sensors is described, as well as the concept to integrate them into one ber optical sensor system.

Higher Curvature Gravity from Entanglement in Conformal Field Theories

Science.gov (United States)

Haehl, Felix M.; Hijano, Eliot; Parrikar, Onkar; Rabideau, Charles

2018-05-01

By generalizing different recent works to the context of higher curvature gravity, we provide a unifying framework for three related results: (i) If an asymptotically anti-de Sitter (AdS) spacetime computes the entanglement entropies of ball-shaped regions in a conformal field theory using a generalized Ryu-Takayanagi formula up to second order in state deformations around the vacuum, then the spacetime satisfies the correct gravitational equations of motion up to second order around the AdS background. (ii) The holographic dual of entanglement entropy in higher curvature theories of gravity is given by the Wald entropy plus a particular correction term involving extrinsic curvatures. (iii) Conformal field theory relative entropy is dual to gravitational canonical energy (also in higher curvature theories of gravity). Especially for the second point, our novel derivation of this previously known statement does not involve the Euclidean replica trick.

Amphipathic motifs in BAR domains are essential for membrane curvature sensing

DEFF Research Database (Denmark)

Bhatia, Vikram K; Madsen, Kenneth L; Bolinger, Pierre-Yves

2009-01-01

BAR (Bin/Amphiphysin/Rvs) domains and amphipathic alpha-helices (AHs) are believed to be sensors of membrane curvature thus facilitating the assembly of protein complexes on curved membranes. Here, we used quantitative fluorescence microscopy to compare the binding of both motifs on single...... nanosized liposomes of different diameters and therefore membrane curvature. Characterization of members of the three BAR domain families showed surprisingly that the crescent-shaped BAR dimer with its positively charged concave face is not able to sense membrane curvature. Mutagenesis on BAR domains showed...... that membrane curvature sensing critically depends on the N-terminal AH and furthermore that BAR domains sense membrane curvature through hydrophobic insertion in lipid packing defects and not through electrostatics. Consequently, amphipathic motifs, such as AHs, that are often associated with BAR domains...

77 FR 20847 - Certain Mobile Electronic Devices Incorporating Haptics; Institution of Investigation Pursuant to...

Science.gov (United States)

2012-04-06

... INTERNATIONAL TRADE COMMISSION [Investigation No. 337-TA-834] Certain Mobile Electronic Devices Incorporating Haptics; Institution of Investigation Pursuant to 19 U.S.C. 1337 AGENCY: U.S. International Trade.... International Trade Commission on February 7, 2012, and an amended complaint was filed with the U.S...

Development of a virtual reality haptic Veress needle insertion simulator for surgical skills training.

Science.gov (United States)

Okrainec, A; Farcas, M; Henao, O; Choy, I; Green, J; Fotoohi, M; Leslie, R; Wight, D; Karam, P; Gonzalez, N; Apkarian, J

2009-01-01

The Veress needle is the most commonly used technique for creating the pneumoperitoneum at the start of a laparoscopic surgical procedure. Inserting the Veress needle correctly is crucial since errors can cause significant harm to patients. Unfortunately, this technique can be difficult to teach since surgeons rely heavily on tactile feedback while advancing the needle through the various layers of the abdominal wall. This critical step in laparoscopy, therefore, can be challenging for novice trainees to learn without adequate opportunities to practice in a safe environment with no risk of injury to patients. To address this issue, we have successfully developed a prototype of a virtual reality haptic needle insertion simulator using the tactile feedback of 22 surgeons to set realistic haptic parameters. A survey of these surgeons concluded that our device appeared and felt realistic, and could potentially be a useful tool for teaching the proper technique of Veress needle insertion.

On the curvature of transmitted intensity plots in broad beam studies

International Nuclear Information System (INIS)

El-Kateb, A.H.

2000-01-01

Transmission of a broad beam of gamma rays of 81- and 356-keV energies from 133 Ba is studied singly and dually. This study is the first to deal with the curvatures of the intensity plots. The targets are dextrose solutions of percentage concentrations up to 0.125 and soil containing water with concentrations up to 0.319. The logarithmic intensity plots are expressed in terms of a polynomial in the concentration. The curvatures of the plots are measured and calculated on the basis of the theoretical mass attenuation coefficients. The results are discussed in conjunction with buildup factors and the probability of photoelectric and Compton interactions. The curvatures show maxima when incoherent interaction prevails. This is evidently proved in case of the single 356-keV and of the dual 81- and 356-keV applied energies. Comparison is performed between the measured and calculated curvatures. The concept of curvature is applied and discussed for published results of narrow beam geometry. Correspondingly, this is the first search to introduce curvature instead of buildup as a measure for transmitted collided photons

Evolution of curvature perturbation in generalized gravity theories

International Nuclear Information System (INIS)