Gal, Gilad Ben; Weiss, Ervin I; Gafni, Naomi; Ziv, Amitai
Virtual reality force feedback simulators provide a haptic (sense of touch) feedback through the device being held by the user. The simulator's goal is to provide a learning experience resembling reality. A newly developed haptic simulator (IDEA Dental, Las Vegas, NV, USA) was assessed in this study. Our objectives were to assess the simulator's ability to serve as a tool for dental instruction, self-practice, and student evaluation, as well as to evaluate the sensation it provides. A total of thirty-three evaluators were divided into two groups. The first group consisted of twenty-one experienced dental educators; the second consisted of twelve fifth-year dental students. Each participant performed drilling tasks using the simulator and filled out a questionnaire regarding the simulator and potential ways of using it in dental education. The results show that experienced dental faculty members as well as advanced dental students found that the simulator could provide significant potential benefits in the teaching and self-learning of manual dental skills. Development of the simulator's tactile sensation is needed to attune it to genuine sensation. Further studies relating to aspects of the simulator's structure and its predictive validity, its scoring system, and the nature of the performed tasks should be conducted.
Suebnukarn, Siriwan; Chaisombat, Monthalee; Kongpunwijit, Thanapohn; Rhienmora, Phattanapon
The aim of this study was to demonstrate construct validation of the haptic virtual reality (VR) dental simulator and to define expert benchmarking criteria for skills assessment. Thirty-four self-selected participants (fourteen novices, fourteen intermediates, and six experts in endodontics) at one dental school performed ten repetitions of three mode tasks of endodontic cavity preparation: easy (mandibular premolar with one canal), medium (maxillary premolar with two canals), and hard (mandibular molar with three canals). The virtual instrument's path length was registered by the simulator. The outcomes were assessed by an expert. The error scores in easy and medium modes accurately distinguished the experts from novices and intermediates at the onset of training, when there was a significant difference between groups (ANOVA, p<0.05). The trend was consistent until trial 5. From trial 6 on, the three groups achieved similar scores. No significant difference was found between groups at the end of training. Error score analysis was not able to distinguish any group at the hard level of training. Instrument path length showed a difference in performance according to groups at the onset of training (ANOVA, p<0.05). This study established construct validity for the haptic VR dental simulator by demonstrating its discriminant capabilities between that of experts and non-experts. The experts' error scores and path length were used to define benchmarking criteria for optimal performance.
Färber, Matthias; Heller, Julika; Handels, Heinz
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.
Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Jittimanee, Pannapa; Viratket, Piyanuch
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.
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.
Wang, Dangxiao; Zhao, Xiaohan; Shi, Youjiao; Zhang, Yuru; Hou, Jianxia; Xiao, Jing
Haptic simulation of handling pathological tissues is a crucial component to enhance virtual surgical training systems. In this paper, we introduce a configuration-based optimization approach to simulate the exploration and diagnosis of carious tissues in dental operations. To simulate the six Degree-of-Freedom (6DoF) haptic interaction between the dental probe and the oral tissues, we introduce two interaction states, the sliding state and the penetration state, which simulate the exploration on the surface of and inside of the caries, respectively. Penetration criteria considering a contact force threshold are defined to trigger the switch between the two states. By utilizing a simplified friction model based on the optimization approach, various multi-region frictional contacts between the probe and carious tissues are simulated. To simulate the exploration within the carious tissues for diagnosing the depth of the caries, a dynamic sphere tree is used to constrain the insertion/extraction of the probe within carious tissues along a fixed direction while enabling simulation of additional contacts of the probe with neighboring oral tissues during the insertion/extraction process. Experimental results show that decays with different levels of stiffness and friction coefficients can be stably simulated. Preliminary user studies show that users could easily identify the invisible boundary between the decay and healthy tissues and correctly rank the depth of target decays within a required time limit. The proposed approach could be used for training delicate motor skill of probing target carious teeth in a narrow oral cavity, which requires collaborated control of tool posture and insertion/extraction force, while avoiding damages to adjacent healthy tissues of the tongue and gingiva.
Panait, Lucian; Akkary, Ehab; Bell, Robert L; Roberts, Kurt E; Dudrick, Stanley J; Duffy, Andrew J
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
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.
Mirghani, I; Mushtaq, F; Allsop, M J; Al-Saud, L M; Tickhill, N; Potter, C; Keeling, A; Mon-Williams, M A; Manogue, M
Virtual reality simulators are becoming increasingly popular in dental schools across the world. But to what extent do these systems reflect actual dental ability? Addressing this question of construct validity is a fundamental step that is necessary before these systems can be fully integrated into a dental school's curriculum. In this study, we examined the sensitivity of the Simodont (a haptic virtual reality dental simulator) to differences in dental training experience. Two hundred and eighty-nine participants, with 1 (n = 92), 3 (n = 79), 4 (n = 57) and 5 (n = 61) years of dental training, performed a series of tasks upon their first exposure to the simulator. We found statistically significant differences between novice (Year 1) and experienced dental trainees (operationalised as 3 or more years of training), but no differences between performance of experienced trainees with varying levels of experience. This work represents a crucial first step in understanding the value of haptic virtual reality simulators in dental education. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
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
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
Dvorkin, Assaf Y; Ramaiya, Milan; Larson, Eric B; Zollman, Felise S; Hsu, Nancy; Pacini, Sonia; Shah, Amit; Patton, James L
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.
Pan, Jun J; Ahn, Woojin; Dargar, Saurabh; Halic, Tansel; Li, Bai C; Sankaranarayanan, Ganesh; Roberts, Kurt; Schwaitzberg, Steven; De, Suvranu
Natural Orifice Transluminal Endoscopic Surgery (NOTES) provides an emerging surgical technique which usually needs a long learning curve for surgeons. Virtual reality (VR) medical simulators with vision and haptic feedback can usually offer an efficient and cost-effective alternative without risk to the traditional training approaches. Under this motivation, we developed the first virtual reality simulator for transvaginal cholecystectomy in NOTES (VTEST™). This VR-based surgical simulator aims to simulate the hybrid NOTES of cholecystectomy. We use a 6DOF haptic device and a tracking sensor to construct the core hardware component of simulator. For software, an innovative approach based on the inner-spheres is presented to deform the organs in real time. To handle the frequent collision between soft tissue and surgical instruments, an adaptive collision detection method based on GPU is designed and implemented. To give a realistic visual performance of gallbladder fat tissue removal by cautery hook, a multi-layer hexahedral model is presented to simulate the electric dissection of fat tissue. From the experimental results, trainees can operate in real time with high degree of stability and fidelity. A preliminary study was also performed to evaluate the realism and the usefulness of this hybrid NOTES simulator. This prototyped simulation system has been verified by surgeons through a pilot study. Some items of its visual performance and the utility were rated fairly high by the participants during testing. It exhibits the potential to improve the surgical skills of trainee and effectively shorten their learning curve. Copyright © 2016 Elsevier Inc. All rights reserved.
Singapogu, Ravikiran; Burg, Timothy; Burg, Karen J L; Smith, Dane E; Eckenrode, Amanda H
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.
Teodorescu, Kinneret; Bouchigny, Sylvain; Korman, Maria
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.
Thawani, Jayesh P; Ramayya, Ashwin G; Abdullah, Kalil G; Hudgins, Eric; Vaughan, Kerry; Piazza, Matthew; Madsen, Peter J; Buch, Vivek; Sean Grady, M
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.
Våpenstad, Cecilie; Hofstad, Erlend Fagertun; Bø, Lars Eirik; Kuhry, Esther; Johnsen, Gjermund; Mårvik, Ronald; Langø, Thomas; Hernes, Toril Nagelhus
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.
Akasum, G. F.; Ramdhania, L. N.; Suprijanto; Widyotriatmo, A.
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.
van der Meijden, O. A. J.; Schijven, M. P.
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
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
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.
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.
van der Meijden, O A J; Schijven, M P
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.
Fang, Te-Yung; Wang, Pa-Chun; Liu, Chih-Hsien; Su, Mu-Chun; Yeh, Shih-Ching
Virtual reality simulation training may improve knowledge of anatomy and surgical skills. We evaluated a 3-dimensional, haptic, virtual reality temporal bone simulator for dissection training. The subjects were 7 otolaryngology residents (3 training sessions each) and 7 medical students (1 training session each). The virtual reality temporal bone simulation station included a computer with software that was linked to a force-feedback hand stylus, and the system recorded performance and collisions with vital anatomic structures. Subjects performed virtual reality dissections and completed questionnaires after the training sessions. Residents and students had favorable responses to most questions of the technology acceptance model (TAM) questionnaire. The average TAM scores were above neutral for residents and medical students in all domains, and the average TAM score for residents was significantly higher for the usefulness domain and lower for the playful domain than students. The average satisfaction questionnaire for residents showed that residents had greater overall satisfaction with cadaver temporal bone dissection training than training with the virtual reality simulator or plastic temporal bone. For medical students, the average comprehension score was significantly increased from before to after training for all anatomic structures. Medical students had significantly more collisions with the dura than residents. The residents had similar mean performance scores after the first and third training sessions for all dissection procedures. The virtual reality temporal bone simulator provided satisfactory training for otolaryngology residents and medical students. Copyright © 2013. Published by Elsevier Ireland Ltd.
Ribeiro de Oliveira, Marcelo Magaldi; Nicolato, Arthur; Santos, Marcilea; Godinho, Joao Victor; Brito, Rafael; Alvarenga, Alexandre; Martins, Ana Luiza Valle; Prosdocimi, André; Trivelato, Felipe Padovani; Sabbagh, Abdulrahman J; Reis, Augusto Barbosa; Maestro, Rolando Del
OBJECT The development of neurointerventional treatments of central nervous system disorders has resulted in the need for adequate training environments for novice interventionalists. Virtual simulators offer anatomical definition but lack adequate tactile feedback. Animal models, which provide more lifelike training, require an appropriate infrastructure base. The authors describe a training model for neurointerventional procedures using the human placenta (HP), which affords haptic training with significantly fewer resource requirements, and discuss its validation. METHODS Twelve HPs were prepared for simulated endovascular procedures. Training exercises performed by interventional neuroradiologists and novice fellows were placental angiography, stent placement, aneurysm coiling, and intravascular liquid embolic agent injection. RESULTS The endovascular training exercises proposed can be easily reproduced in the HP. Face, content, and construct validity were assessed by 6 neurointerventional radiologists and 6 novice fellows in interventional radiology. CONCLUSIONS The use of HP provides an inexpensive training model for the training of neurointerventionalists. Preliminary validation results show that this simulation model has face and content validity and has demonstrated construct validity for the interventions assessed in this study.
Cléber Gimenez CORRÊA
Full Text Available Abstract Objectives This study shows the development and validation of a dental anesthesia-training simulator, specifically for the inferior alveolar nerve block (IANB. The system developed provides the tactile sensation of inserting a real needle in a human patient, using Virtual Reality (VR techniques and a haptic device that can provide a perceived force feedback in the needle insertion task during the anesthesia procedure. Material and Methods To simulate a realistic anesthesia procedure, a Carpule syringe was coupled to a haptic device. The Volere method was used to elicit requirements from users in the Dentistry area; Repeated Measures Two-Way ANOVA (Analysis of Variance, Tukey post-hoc test and averages for the results’ analysis. A questionnaire-based subjective evaluation method was applied to collect information about the simulator, and 26 people participated in the experiments (12 beginners, 12 at intermediate level, and 2 experts. The questionnaire included profile, preferences (number of viewpoints, texture of the objects, and haptic device handler, as well as visual (appearance, scale, and position of objects and haptic aspects (motion space, tactile sensation, and motion reproduction. Results The visual aspect was considered appropriate and the haptic feedback must be improved, which the users can do by calibrating the virtual tissues’ resistance. The evaluation of visual aspects was influenced by the participants’ experience, according to ANOVA test (F=15.6, p=0.0002, with p<0.01. The user preferences were the simulator with two viewpoints, objects with texture based on images and the device with a syringe coupled to it. Conclusion The simulation was considered thoroughly satisfactory for the anesthesia training, considering the needle insertion task, which includes the correct insertion point and depth, as well as the perception of tissues resistances during the insertion.
Corrêa, Cléber Gimenez; Machado, Maria Aparecida de Andrade Moreira; Ranzini, Edith; Tori, Romero; Nunes, Fátima de Lourdes Santos
This study shows the development and validation of a dental anesthesia-training simulator, specifically for the inferior alveolar nerve block (IANB). The system developed provides the tactile sensation of inserting a real needle in a human patient, using Virtual Reality (VR) techniques and a haptic device that can provide a perceived force feedback in the needle insertion task during the anesthesia procedure. To simulate a realistic anesthesia procedure, a Carpule syringe was coupled to a haptic device. The Volere method was used to elicit requirements from users in the Dentistry area; Repeated Measures Two-Way ANOVA (Analysis of Variance), Tukey post-hoc test and averages for the results' analysis. A questionnaire-based subjective evaluation method was applied to collect information about the simulator, and 26 people participated in the experiments (12 beginners, 12 at intermediate level, and 2 experts). The questionnaire included profile, preferences (number of viewpoints, texture of the objects, and haptic device handler), as well as visual (appearance, scale, and position of objects) and haptic aspects (motion space, tactile sensation, and motion reproduction). The visual aspect was considered appropriate and the haptic feedback must be improved, which the users can do by calibrating the virtual tissues' resistance. The evaluation of visual aspects was influenced by the participants' experience, according to ANOVA test (F=15.6, p=0.0002, with p<0.01). The user preferences were the simulator with two viewpoints, objects with texture based on images and the device with a syringe coupled to it. The simulation was considered thoroughly satisfactory for the anesthesia training, considering the needle insertion task, which includes the correct insertion point and depth, as well as the perception of tissues resistances during the insertion.
Salkini, Mohamad W; Doarn, Charles R; Kiehl, Nicholai; Broderick, Timothy J; Donovan, James F; Gaitonde, Krishnanath
Laparoscopic surgery has become the standard of care for many surgical diseases. Haptic (tactile) feedback (HFB) is considered an important component of laparoscopic surgery. Virtual reality simulation (VRS) is an alternative method to teach surgical skills to surgeons in training. Newer VRS trainers such as the Simbionix Lap Mentor II provide significantly improved tactile feedback. However, VRSs are expensive and adding HFB software adds an estimated cost of $30,000 to the commercial price. The HFB provided by the Lap Mentor II has not been validated by an independent party. We used the Simbionix Lap Mentor II in this study to demonstrate the effect of adding an HFB mechanism in the VRS trainer. The study was approved by the University of Cincinnati Institutional Review Board. Twenty laparoscopically novice medical students were enrolled. Each student was asked to perform three different tasks on the Lap Mentor II and repeat each one five times. The chosen tasks demanded significant amount of traction and counter traction. The first task was to pull leaking tubes enough and clip them. The second task was stretching a jelly plate enough to see its attachments to the floor and cut these attachments. In the third task, the trainee had to separate the gallbladder from its bed on the liver. The students were randomized into two groups to perform the tasks with and without HFB. We used accuracy, speed, and economy of movement as scales to compare the performance between the two groups. The participants also completed a simple questionnaire that highlighted age, sex, and experiences in videogame usage. The two groups were comparable in age, sex, and videogame playing. No differences in the accuracy, the economy, and the speed of hand movement were noticed. In fact, adding HFB to the Lap Mentor II simulator did not contribute to any improvement in the performance of the trainees. Interestingly, we found that videogame expert players tend to have faster and more economic
Boos, Amy; Qiu, Qinyin; Fluet, Gerard G; Adamovich, Sergei V
This study describes the design and feasibility testing of a hand rehabilitation system that provides haptic assistance for hand opening in moderate to severe hemiplegia while subjects attempt to perform bilateral hand movements. A cable-actuated exoskeleton robot assists the subjects in performing impaired finger movements but is controlled by movement of the unimpaired hand. In an attempt to combine the neurophysiological stimuli of bilateral movement and action observation during training, visual feedback of the impaired hand is replaced by feedback of the unimpaired hand, either by using a sagittaly oriented mirror or a virtual reality setup with a pair of virtual hands presented on a flat screen controlled with movement of the unimpaired hand, providing a visual image of their paretic hand moving normally. Joint angles for both hands are measured using data gloves. The system is programmed to maintain a symmetrical relationship between the two hands as they respond to commands to open and close simultaneously. Three persons with moderate to severe hemiplegia secondary to stroke trained with the system for eight, 30 to 60 minute sessions without adverse events. Each demonstrated positive motor adaptations to training. The system was well tolerated by persons with moderate to severe upper extremity hemiplegia. Further testing of its effects on motor ability with a broader range of clinical presentations is indicated.
Cantone, M.C.; Biazzi, L.
Since some years the Cone Beam CT or CT volumetric Technique 'cone beam' (CBCT examination), developed with clinical applications in fields such as Interventional Radiology, surgery, intraoperative radiotherapy, breast imaging and dental. All the professional figures involved with CBCT must have received adequate training to practice the theoretical radiological application considered and have relevant expertise in the field of radiation protection. This can be especially critical in the area of dental and maxillofacial CBCT, where the dentist has not received adequate training in radiological field. It also required continuous training, in particular when new equipment are adopted and CBCT.
Perry, Suzanne; Bridges, Susan M; Zhu, Frank; Leung, W Keung; Burrow, Michael F; Poolton, Jamie; Masters, Rich Sw
There is little evidence considering the relationship between movement-specific reinvestment (a dimension of personality which refers to the propensity for individuals to consciously monitor and control their movements) and working memory during motor skill performance. Functional near-infrared spectroscopy (fNIRS) measuring oxyhemoglobin demands in the frontal cortex during performance of virtual reality (VR) psychomotor tasks can be used to examine this research gap. The aim of this study was to determine the potential relationship between the propensity to reinvest and blood flow to the dorsolateral prefrontal cortices of the brain. A secondary aim was to determine the propensity to reinvest and performance during 2 dental tasks carried out using haptic VR simulators. We used fNIRS to assess oxygen demands in 24 undergraduate dental students during 2 dental tasks (clinical, nonclinical) on a VR haptic simulator. We used the Movement-Specific Reinvestment Scale questionnaire to assess the students' propensity to reinvest. Students with a high propensity for movement-specific reinvestment displayed significantly greater oxyhemoglobin demands in an area associated with working memory during the nonclinical task (Spearman correlation, r s =.49, P=.03). This small-scale study suggests that neurophysiological differences are evident between high and low reinvesters during a dental VR task in terms of oxyhemoglobin demands in an area associated with working memory. ©Suzanne Perry, Susan M Bridges, Frank Zhu, W Keung Leung, Michael F Burrow, Jamie Poolton, Rich SW Masters. Originally published in the Journal of Medical Internet Research (http://www.jmir.org), 12.12.2017.
Kappers, A.M.L.; Bergmann Tiest, W.M.
Fueled by novel applications, interest in haptic perception is growing. This paper provides an overview of the state of the art of a number of important aspects of haptic perception. By means of touch we can not only perceive quite different material properties, such as roughness, compliance,
Okrainec, A; Farcas, M; Henao, O; Choy, I; Green, J; Fotoohi, M; Leslie, R; Wight, D; Karam, P; Gonzalez, N; Apkarian, J
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.
ter Horst, G.; Leeds, J.G.; Hoogstraten, J.
27 1st-yr dental students participated in a 3-day communication-skills training, and 39 nonparticipating 1st-yr dental students served as controls, to investigate the short-term effects of the training on participating Ss' communication skills. The general objective of the training was to advance
Pourkand, Ashkan; Zamani, Naghmeh; Grow, David
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.
Eland David C
Full Text Available Abstract Background Models and simulations are finding increased roles in medical education. The Virtual Haptic Back (VHB is a virtual reality simulation of the mechanical properties of the human back designed as an aid to teaching clinical palpatory diagnosis. Methods Eighty-nine first year medical students of the Ohio University College of Osteopathic Medicine carried out six, 15-minute practice sessions with the VHB, plus tests before and after the sessions in order to monitor progress in identifying regions of simulated abnormal tissue compliance. Students palpated with two digits, fingers or thumbs, by placing them in gimbaled thimbles at the ends of PHANToM 3.0® haptic interface arms. The interface simulated the contours and compliance of the back surface by the action of electric motors. The motors limited the compression of the virtual tissues induced by the palpating fingers, by generating counterforces. Users could see the position of their fingers with respect to the back on a video monitor just behind the plane of the haptic back. The abnormal region varied randomly among 12 locations between trials. During the practice sessions student users received immediate feedback following each trial, indicating either a correct choice or the actual location of the abnormality if an incorrect choice had been made. This allowed the user to feel the actual abnormality before going on to the next trial. Changes in accuracy, speed and Weber fraction across practice sessions were analyzed using a repeated measures analysis of variance. Results Students improved in accuracy and speed of diagnosis with practice. The smallest difference in simulated tissue compliance users were able to detect improved from 28% (SD = 9.5% to 14% (SD = 4.4% during the practice sessions while average detection time decreased from 39 (SD = 19.8 to 17 (SD = 11.7 seconds. When asked in anonymous evaluation questionnaires if they judged the VHB practice to be helpful to
Våpenstad, Cecilie; Hofstad, Erlend Fagertun; Langø, Thomas; Mårvik, Ronald; Chmarra, Magdalena Karolina
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.
Maria Teresa Restivo
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.
Wang, D; Li, T; Zhang, Y; Hou, J
Compared with traditional dental training methods, virtual reality training systems integrated with multisensory feedback possess potentials advantages. However, there exist many technical challenges in developing a satisfactory simulator. In this manuscript, we systematically survey several current dental training systems to identify the gaps between the capabilities of these systems and the clinical training requirements. After briefly summarising the components, functions and unique features of each system, we discuss the technical challenges behind these systems including the software, hardware and user evaluation methods. Finally, the clinical requirements of an ideal dental training system are proposed. Future research/development areas are identified based on an analysis of the gaps between current systems and clinical training requirements. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Grieveson, B; Kirton, J A; Palmer, N O A; Balmer, M C
The aims of this survey were to evaluate the effectiveness of workplace based assessments (WPAs) in dental foundation training (formerly vocational training [VT]). Two online questionnaire surveys were sent to 53 foundation dental practitioners (FDPs) and their 51 trainers in the Mersey Deanery at month four and month nine of the one year of dental foundation training. The questionnaires investigated the effectiveness of and trainers' and trainees' satisfaction with the WPAs used in foundation training, namely dental evaluation of performance (D-EPs), case-based discussions (DcBD) and patients' assessment questionnaires (PAQs). The questionnaires also investigated the perceived impact of reflection and feedback associated with WPAs on clinical practise and improving patient care. A total of 41 (7.4%) FDPs and 44 (86.3%) trainers responded. Of the 41 FDPs, the majority found that feedback from WPAs had a positive effect on their training, giving them insight into their development needs. Overall 84.1% of the FDPs felt the WPAs helped them improve patient care and 82.5% of trainers agreed with that outcome. The findings from this study demonstrate the value of WPAs in dental foundation training by the use of feedback and reflection in directing the learning of foundation dental practitioners and that this can lead to improved clinical practise and patient care.
Vocational training (VT) is a mandatory 12 month period for UK dental graduates after graduation. Graduates of Irish Dental Schools are eligible to enter the general dental service in Ireland or obtain an NHS performers list number in the UK immediately after qualification. Reports would suggest that some graduates of Irish Dental Schools are choosing to take part in VT in the UK and find the experience beneficial. This study aimed to record the uptake of VT amongst recent graduates from University College Cork and to document their experiences. It was designed to compare the attitudes and experiences of graduates of Irish Dental Schools who undertook VT compared with those who entered the general dental service.
Sae-Kee, Bundit; Riener, Robert; Frey, Martin; Pröll, Thomas; Burgkart, Rainer
In this paper, we propose a new interactive simulation system for dental treatment training. The system comprises a virtual reality environment and a force-torque measuring device to enhance the capabilities of a passive phantom of tooth anatomy in dental treatment training processes. The measuring device is connected to the phantom, and provides essential input data for generating the graphic animations of physical behaviors such as drilling and bleeding. The animation methods of those physical behaviors are also presented. This system is not only able to enhance interactivity and accessibility of the training system compared to conventional methods but it also provides possibilities of recording, evaluating, and verifying the training results.
Holyfield, Lavern J; Miller, Barbara H
Policies exist to promote fairness and equal access to opportunities and services that address basic human needs of all U.S. citizens. Nonetheless, health disparities continue to persist among certain subpopulations, including those of racial, ethnic, geographic, socioeconomic, and other cultural identity groups. The Commission on Dental Accreditation (CODA) has added standards to address this concern. According to the most recent standards, adopted in 2010 for implementation in July 2013, CODA stipulates that "students should learn about factors and practices associated with disparities in health." Thus, it is imperative that dental schools develop strategies to comply with this addition. One key strategy for compliance is the inclusion of cultural competence training in the dental curriculum. A survey, the Dental Tool for Assessing Cultural Competence Training (D-TACCT), based on the Association of American Medical Colleges' Tool for Assessing Cultural Competence Training (TACCT), was sent to the academic deans at seventy-one U.S. and Canadian dental schools to determine best practices for cultural competence training. The survey was completed by thirty-seven individuals, for a 52 percent response rate. This article describes the use of this survey as a guide for developing culturally competent strategies and enhancing cultural competence training in dental schools.
Taichman, Russell S.; Parkinson, Joseph W.; Nelson, Bonnie A.; Nordquist, Barbara; Ferguson-Young, Daphne C.; Thompson, Joseph F.
Since leadership is an essential part of the oral health professions, oral health educators can play an essential role in establishing a culture of leadership and in mentoring students to prepare them for future leadership roles within the profession. However, leadership training for oral health professionals is a relatively new concept and is frequently not found within dental and dental hygiene curricula. The purpose of this article is to propose several models for leadership training that are specific to the oral health professions. The authors hope that providing an overview of leadership programs in academic dental institutions will encourage all U.S. and Canadian dental schools to begin developing a culture that promotes leadership development. PMID:22319084
Gallagher, A.; Dowling, A.; Renehan, J.; Clarke, D.; Malone, J. F.
The EU Council Directive 97/43/EURATOM (MED) states that Member States shall ensure that adequate theoretical and practical training is provided for dental practitioners working with ionising radiation; this also includes the provision of continuing education and training programmes, post-qualification. The area of dental radiology is specifically mentioned in this legally binding document. The Dept. of Medical Physics and Bioengineering, St James's Hospital, Dublin, is particularly interested in the area of radiation protection training and routinely provides educational courses both at national and international levels. A recent review of their dental radiation protection course was undertaken in conjunction with a number of Principal Dental Surgeons within the Health Service Executive in Ireland. The revised course was delivered to over 200 dental staff members at two separate meetings during 2006. The response from attendees was very positive. It is proposed to extend this course to other dental professionals, working both in the Irish private and public health sectors in the future. (authors)
The EU Council Directive 97\\/43\\/EURATOM (MED) states that Member States shall ensure that adequate theoretical and practical training is provided for dental practitioners working with ionising radiation; this also includes the provision of continuing education and training programmes, post-qualification. The area of dental radiology is specifically mentioned in this legally binding document. The Department of Medical Physics and Bioengineering, St James\\'s Hospital, Dublin, is particularly interested in the area of radiation protection training and routinely provides educational courses both at national and international levels. A recent review of their dental radiation protection course was undertaken in conjunction with a number of Principal Dental Surgeons within the Health Service Executive in Ireland. The revised course was delivered to over 200 dental staff members at two separate meetings during 2006. The response from attendees was very positive. It is proposed to extend this course to other dental professionals, working both in the Irish private and public health sectors in the future.
Full Text Available Laparoscopic surgery has revolutionised medicine but requires surgeons to learn new visual-motor mappings. The optimal method for training surgeons is unknown. For instance, it may be easier to learn planar movements when training is constrained to a plane, since this forces the surgeon to develop an appropriate perceptual-motor map. In contrast, allowing the surgeon to move without constraints could improve performance because this provides greater experience of the control dynamics of the device. In order to test between these alternatives, we created an experimental tool that connected a commercially available robotic arm with specialised software that presents visual stimuli and objectively records kinematics. Participants were given the task of generating a series of aiming movements to move a visual cursor to a series of targets. The actions required movement along a horizontal plane, whereas the visual display was a screen positioned perpendicular to this plane (ie, vertically. One group (n=8 received training where the force field constrained their movement to the correct plane of action, whilst a second group (n=8 trained without constraints. On test trials (after training the unconstrained group showed better performance, as indexed by reduced movement duration and reduced path length. These results show that participants who explored the entire action space had an advantage, which highlights the importance of experiencing the full dynamics of a control device and the action space when learning a new visual-motor mapping.
Lim, Grace; Krohner, Robert G; Metro, David G; Rosario, Bedda L; Jeong, Jong-Hyeon; Sakai, Tetsuro
There are many teaching methods for epidural anesthesia skill acquisition. Previous work suggests that there is no difference in skill acquisition whether novice learners engage in low-fidelity (LF) versus high-fidelity haptic simulation for epidural anesthesia. No study, however, has compared the effect of LF haptic simulation for epidural anesthesia versus mental imagery (MI) training in which no physical practice is attempted. We tested the hypothesis that MI training is superior to LF haptic simulation training for epidural anesthesia skill acquisition. Twenty Post-Graduate Year 2 (PGY-2) anesthesiology residents were tested at the beginning of the training year. After a didactic lecture on epidural anesthesia, they were randomized into 2 groups. Group LF had LF simulation training for epidural anesthesia using a previously described banana simulation technique. Group MI had guided, scripted MI training in which they initially were oriented to the epidural kit components and epidural anesthesia was described stepwise in detail, followed by individual mental rehearsal; no physical practice was undertaken. Each resident then individually performed epidural anesthesia on a partial-human task trainer on 3 consecutive occasions under the direct observation of skilled evaluators who were blinded to group assignment. Technical achievement was assessed with the use of a modified validated skills checklist. Scores (0-21) and duration to task completion (minutes) were recorded. A linear mixed-effects model analysis was performed to determine the differences in scores and duration between groups and over time. There was no statistical difference between the 2 groups for scores and duration to task completion. Both groups showed similarly significant increases (P = 0.0015) in scores over time (estimated mean score [SE]: group MI, 15.9 [0.55] to 17.4 [0.55] to 18.6 [0.55]; group LF, 16.2 [0.55] to 17.7 [0.55] to 18.9 [0.55]). Time to complete the procedure decreased
Savita Abdulpur Mallikarjun
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.
Partido, Brian B
Dental and dental hygiene clinical faculty members often do not provide consistent instruction, especially since most procedures involve clinical judgment. Although instructional variations frequently translate into variations in student performance, the effect of inconsistent instruction is unknown, especially related to ergonomics. The aim of this study was to determine whether photography-assisted calibration training would improve interrater reliability among dental hygiene faculty members in ergonomics evaluation. The photography-assisted ergonomics calibration program incorporated features to improve accessibility and optimize the quality of the training. The study used a two-group repeated measures design with a convenience sample of 11 dental hygiene faculty members (eight full-time and three part-time) during the autumn 2016 term at one U.S. dental school. At weeks one and seven, all participants evaluated imaged postures of five dental students using a modified-dental operator posture assessment instrument. During weeks three and five, training group participants completed calibration training using independent and group review of imaged postures. All pre-training and post-training evaluations were evaluated for interrater reliability. Two-way random effects intraclass coefficient (ICC) values were calculated to measure the effects of the training on interrater reliability. The average measure of ICC of the training group improved from 0.694 with a 95% confidence interval (CI) of 0.001 to 0.965 (F(4,8)=3.465, p>0.05) to 0.766 with a 95% CI of 0.098 to 0.972 (F(4,8)=7.913, p<0.01). The average measure of ICC of the control group improved from 0.821 with a 95% CI of 0.480 to 0.978 (F(4,28)=7.702, p<0.01) to 0.846 with a 95% CI of 0.542 to 0.981 (F(4,28)=8.561, p<0.01). These results showed that the photography-assisted calibration training with the opportunity to reconcile different opinions resulted in improved agreement among these faculty members.
Erolin, Caroline; Wilkinson, Caroline; Soames, Roger
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.
Newcomb, Tara L; Bruhn, Ann M; Ulmer, Loreta H; Diawara, Norou
Mass fatality incidents can overwhelm local, state and national resources quickly. Dental hygienists are widely distributed and have the potential to increase response teams' capacity. However, appropriate training is required. The literature is void of addressing this type of training for dental hygienists and scant in dentistry. Hence, the purpose of this study was to assess one facet of such training: Whether the use of multimedia is likely to enhance educational outcomes related to mass fatality training. A randomized, double-blind, pre- and post-test design was used to evaluate the effectiveness of comparable educational modules for 2 groups: a control group (n=19) that received low media training and a treatment group (n=20) that received multimedia training. Participants were second-year, baccalaureate dental hygiene students. Study instruments included a multiple-choice examination, a clinical competency-based radiology lab scored via a standardized rubric, and an assessment of interest in mass fatality education as a specialty. ANOVA was used to analyze results. Participants' pre- and post-test scores and clinical competency-based radiology lab scores increased following both educational approaches. Interest in mass fatality training also increased significantly for all participants (p=0.45). There was no significant difference in pre- and post-test multiple choice scores (p=0.6455), interest (p=0.9133) or overall competency-based radiology lab scores (p=0.997) between groups. Various educational technique may be effective for mass fatality training. However, mass fatality training that incorporates multimedia is an appropriate avenue for training instruction. Continued research about multimedia's role in this specialty area is encouraged. Copyright © 2015 The American Dental Hygienists’ Association.
Skoulas, Angelique; Kalenderian, Elsbeth
Harvard School of Dental Medicine launched a course on leadership for its postdoctoral dental students in 2010 in order to introduce them to the art of leadership and the latest theories and principles regarding becoming a leader. Nine four-hour modules over a period of six months took the students on a journey of leadership self-exploration by building awareness of their capacity in core leadership skills; providing them with tools and frameworks for developing effective leadership skills; encouraging the immediate practice of core skills; creating space for honest reflection; and providing inspiration with guest lectures. A constant toggle between the present and their future as leaders was built into the course. In the student evaluations, the course received an overall rating of 4.71 (5=excellent), and the students reported an enhanced interest in all topic areas. They reported that the ability to build trust with others was the most beneficial skill for a dentist, while viewing advocacy skills as the least beneficial. All the students indicated an intention to continue developing their leadership skills. Through the course, the students developed an understanding of their leadership strengths and limitations through case studies, role-play, and self-reflection, as well as gaining an understanding of team dynamics and cultural perceptions in the context of dentistry.
Hermosillo, G G; López Cámara, V; Alvarez Manilla, J M; García Cantú, M; Silva Olivares, H
The introductory section describes the general situation of dental care in Mexico, analyzes the prevailing service model (including the kind of work done by the dental professional and the technology he employs), and briefly reviews the evolution of dentistry in the country. There follows an account of a series of new approaches to service and manpower training in experimental implementation since 1972 in the stomatology curriculum at the Xochimilco campus of the Metropolitan Autonomous University, at the National School of Professional Studies at Zaragoza, in the School of Dentistry of Nuevo León Autonomous University, Monterrey, and in the Dental Services at Ciudad Netzahualcóyotl. In each case, the background, characteristics, and objectives of the programs, and their evolution and prospects are described.
Paneels, Sabrina; Roberts, Jonathan C
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.
Hannig, Andreas; Lemos, Martin; Spreckelsen, Cord; Ohnesorge-Radtke, Ulla; Rafai, Nicole
The training of motor skills is a crucial aspect of medical education today. Serious games and haptic virtual simulations have been used in the training of surgical procedures. Otherwise, however, a combination of serious games and motor skills training is rarely used in medical education. This article presents Skills-O-Mat, an interactive serious…
L'Orsa, Rachael; Macnab, Chris J B; Tavakoli, Mahdi
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.
Bouchard, Amy E; Corriveau, Hélène; Milot, Marie-Hélène
With age, a decline in the temporal aspect of movement is observed such as a longer movement execution time and a decreased timing accuracy. Robotic training can represent an interesting approach to help improve movement timing among the elderly. Two types of robotic training-haptic guidance (HG; demonstrating the correct movement for a better movement planning and improved execution of movement) and error amplification (EA; exaggerating movement errors to have a more rapid and complete learning) have been positively used in young healthy subjects to boost timing accuracy. For healthy seniors, only HG training has been used so far where significant and positive timing gains have been obtained. The goal of the study was to evaluate and compare the impact of both HG and EA robotic trainings on the improvement of seniors' movement timing. Thirty-two healthy seniors (mean age 68 ± 4 years) learned to play a pinball-like game by triggering a one-degree-of-freedom hand robot at the proper time to make a flipper move and direct a falling ball toward a randomly positioned target. During HG and EA robotic trainings, the subjects' timing errors were decreased and increased, respectively, based on the subjects' timing errors in initiating a movement. Results showed that only HG training benefited learning, but the improvement did not generalize to untrained targets. Also, age had no influence on the efficacy of HG robotic training, meaning that the oldest subjects did not benefit more from HG training than the younger senior subjects. Using HG to teach the correct timing of movement seems to be a good strategy to improve motor learning for the elderly as for younger people. However, more studies are needed to assess the long-term impact of HG robotic training on improvement in movement timing.
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Bargerhuff, Mary Ellen; Cowan, Heidi; Oliveira, Francisco; Quek, Francis; Fang, Bing
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…
Pinzon, David; Byrns, Simon; Zheng, Bin
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.
Eck, Ulrich; Pankratz, Frieder; Sandor, Christian; Klinker, Gudrun; Laga, Hamid
Visuo-haptic augmented reality systems enable users to see and touch digital information that is embedded in the real world. PHANToM haptic devices are often employed to provide haptic feedback. Precise co-location of computer-generated graphics and the haptic stylus is necessary to provide a realistic user experience. Previous work has focused on calibration procedures that compensate the non-linear position error caused by inaccuracies in the joint angle sensors. In this article we present a more complete procedure that additionally compensates for errors in the gimbal sensors and improves position calibration. The proposed procedure further includes software-based temporal alignment of sensor data and a method for the estimation of a reference for position calibration, resulting in increased robustness against haptic device initialization and external tracker noise. We designed our procedure to require minimal user input to maximize usability. We conducted an extensive evaluation with two different PHANToMs, two different optical trackers, and a mechanical tracker. Compared to state-of-the-art calibration procedures, our approach significantly improves the co-location of the haptic stylus. This results in higher fidelity visual and haptic augmentations, which are crucial for fine-motor tasks in areas such as medical training simulators, assembly planning tools, or rapid prototyping applications.
Frese, C; Frese, F; Kuhlmann, S; Saure, D; Reljic, D; Staehle, H J; Wolff, D
The aim of this investigation was to give insights into the impact of endurance training on oral health, with regard to tooth erosion, caries, and salivary parameters. The study included 35 triathletes and 35 non-exercising controls. The clinical investigation comprised oral examination, assessment of oral status with special regard to caries and erosion, saliva testing during inactivity, and a self-administered questionnaire about eating, drinking, and oral hygiene behavior. In addition, athletes were asked about their training habits and intake of beverages and sports nutrition. For saliva assessment during exercise, a subsample of n = 15 athletes volunteered in an incremental running field test (IRFT). Athletes showed an increased risk for dental erosion (P = 0.001). No differences were observed with regard to caries prevalence and salivary parameters measured during inactivity between athletes and controls. Among athletes, a significant correlation was found between caries prevalence and the cumulative weekly training time (r = 0.347, P = 0.04). In athletes after IRFT and at maximum workload, saliva flow rates decreased (P = 0.001 stimulated; P = 0.01 unstimulated) and saliva pH increased significantly (P = 0.003). Higher risk for dental erosions, exercise-dependent caries risk, and load-dependent changes in saliva parameters point out the need for risk-adapted preventive dental concepts in the field of sports dentistry. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Chi square. P≤0.05 was considered significant. Results. The proportion of the respondents who had worked with dental auxiliaries, dental therapists, dental surgery assistants, dental technicians and dental aids was 100%,. 59.5%, 43.2%, 45.9% and 5.4% respectively (Fig. 1). More than half (51.4%) of the respondents had ...
Beaulieu, L; Carette, A; Comtois, S; Lavigueur, M; Cardou, P; Laurendeau, D
Purpose: Surgical procedures require dexterity, expertise and repetition to reach optimal patient outcomes. However, efficient training opportunities are usually limited. This work presents a simulator system with realistic haptic force-feedback and full, real-time ultrasounds image simulation. Methods: The simulator is composed of a custom-made Linear-DELTA force-feedback robotic platform. The needle tip is mounted on a force gauge at the end effector of the robot, which responds to needle insertion by providing reaction forces. 3D geometry of the tissue is using a tetrahedral finite element mesh (FEM) mimicking tissue properties. As the needle is inserted/retracted, tissue deformation is computed using a mass-tensor nonlinear visco-elastic FEM. The real-time deformation is fed to the L-DELTA to take into account the force imparted to the needle, providing feedback to the end-user when crossing tissue boundaries or needle bending. Real-time 2D US image is also generated synchronously showing anatomy, needle insertion and tissue deformation. The simulator is running on an Intel I7 6- core CPU at 3.26 MHz. 3D tissue rendering and ultrasound display are performed on a Windows 7 computer; the FEM computation and L-DELTA control are executed on a similar PC using the Neutrino real-time OS. Both machines communicate through an Ethernet link. Results: The system runs at 500 Hz for a 8333-tetrahedron tissue mesh and a 100-node angular spring needle model. This frame rate ensures a relatively smooth displacement of the needle when pushed or retracted (±20 N in all directions at speeds of up to 2 m/s). Unlike commercially-available haptic platforms, the oblong workspace of the L-DELTA robot complies with that required for brachytherapy needle displacements of 0.1m by 0.1m by 0.25m. Conclusion: We have demonstrated a real-life, realistic brachytherapy simulator developed for prostate implants (LDR/HDR). The platform could be adapted to other sites or training for other
Vallgårda, Anna; Boer, Laurens; Cahill, Ben
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...
Jung, Hwee-Kwon; Park, Gyuhae; Todd, Michael D.
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.
Needham, Caroline; Wilkinson, Caroline; Soames, Roger
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.
Colvard, Michael D; Hirst, Jeremy L; Vesper, Benjamin J; DeTella, George E; Tsagalis, Mila P; Roberg, Mary J; Peters, David E; Wallace, Jimmy D; James, James J
The reauthorization of the Pandemic and All-Hazards Preparedness Act in 2013 incorporated the dental profession and dental professionals into the federal legislation governing public health response to pandemics and all-hazard situations. Work is now necessary to expand the processes needed to incorporate and train oral health care professionals into pandemic and all-hazard response events. A just-in-time (JIT) training exercise and immunization drill using an ex vivo porcine model system was conducted to demonstrate the rapidity to which dental professionals can respond to a pandemic influenza scenario. Medical history documentation, vaccination procedures, and patient throughput and error rates of 15 dental responders were evaluated by trained nursing staff and emergency response personnel. The average throughput (22.33/hr) and medical error rates (7 of 335; 2.08%) of the dental responders were similar to those found in analogous influenza mass vaccination clinics previously conducted using certified public health nurses. The dental responder immunization drill validated the capacity and capability of dental professionals to function as a valuable immunization resource. The ex vivo porcine model system used for JIT training can serve as a simple and inexpensive training tool to update pandemic responders' immunization techniques and procedures supporting inoculation protocols.
30 dentally fearful Ss (aged 8-12 yrs) were assigned to 1 of 3 experimental conditions (training in threat-related verbal coping responses, training in competence-related verbal coping responses, or training in an emotive-imagery procedure) or to 1 of 2 control conditions: a placebo or a
D'Souza, Rena N; Colombo, John S
This is a critical time in the history of the dental profession for it to fully embrace the responsibility to safeguard its reputation as a learned profession. In this golden era of scientific and technological advances, opportunities abound to create new diagnostics, preventions, treatments, and cures to improve oral health. Dental schools are the largest national resource entrusted with the responsibility to educate, train, and retain oral health researchers who can leverage such technologies and research opportunities that will benefit the profession at large as well as patients. This article reemphasizes the theme that research training and scholarship must be inextricably woven into the environment and culture in dental schools to ensure the future standing of the profession. An overview of the history of support provided by the National Institutes of Health and National Institute of Dental and Craniofacial Research for the training and career development of dentist-scientists is presented. In addition, new data on the outcomes of such investments are presented along with a comparison with other health professions. This overview underscores the need to expand the capacity of a well-trained cadre of oral health researchers through the reengineering of training programs. Such strategies will best prepare future graduates for team science, clinical trials, and translational research as well as other emerging opportunities. The urgent need for national organizations like the American Dental Association, American Dental Education Association, and American Association for Dental Research to create new alliances and novel initiatives to assist dental schools and universities in fulfilling their research mission is emphasized. To ignore such calls for action is to disavow a valuable legacy inherited by the dental profession. This article was written as part of the project "Advancing Dental Education in the 21 st Century."
Divaris, Kimon; Bhaskar, Vaishnavi; McGraw, Kathleen A
The authors conducted a systematic review to determine: a) What dental schools and dental hygiene programs are doing to promote knowledge and skills related to addressing childhood obesity and to reduce consumption of sugar-sweetened beverages (SSBs) and b) What else these schools and programs could do to better equip future oral health professionals to address childhood obesity and reduce consumption of SSBs. The authors searched PubMed, Scopus, Education Full Text (EBSCOHost), and ERIC (EBSCOHost) to identify peer-reviewed publications reporting on obesity or dietetic-related curricula in dental and dental hygiene education within the last 20 years. Three studies met inclusion and exclusion criteria. Outcomes of the identified studies were abstracted and summarized independently by two investigators. The first study describes a 2009 survey of pediatric dentistry residents. Approximately, half had received formal training yet they lacked essential knowledge or skills for managing children who were obese. The second study describes nutrition-related coursework offered in the second year of a predoctoral dental school curriculum in Saudi Arabia, and the third study reports on the development of an "oral health rotation" dietetic internship in a pediatric dentistry clinic, in the context of interprofessional education (IPE). Evidence of dental schools' and dental hygiene programs' efforts to address obesity and SSB consumption in children in their curricula is scant, while Commission on Dental Accreditation standards make sporadic mentions of diet and nutrition. Opportunities exist to leverage existing resources and innovative, experiential approaches, including IPE, to formally, and effectively address this important issue in predoctoral oral health education. © 2017 American Association of Public Health Dentistry.
Ayn, Caitlyn; Robinson, Lynne; Nason, April; Lovas, John
Professional communication skills have a significant impact on dental patient satisfaction and health outcomes. Communication skills training has been shown to improve the communication skills of dental students. Therefore, strengthening communication skills training in dental education shows promise for improving dental patient satisfaction and outcomes. The aim of this study was to facilitate the development of dental communication skills training through a scoping review with compilation of a list of considerations, design of an example curriculum, and consideration of barriers and facilitators to adoption of such training. A search to identify studies of communication skills training interventions and programs was conducted. Search queries were run in three databases using both text strings and controlled terms (MeSH), yielding 1,833 unique articles. Of these, 35 were full-text reviewed, and 17 were included in the final synthesis. Considerations presented in the articles were compiled into 15 considerations. These considerations were grouped into four themes: the value of communication skills training, the role of instructors, the importance of accounting for diversity, and the structure of communication skills training. An example curriculum reflective of these considerations is presented, and consideration of potential barriers and facilitators to implementation are discussed. Application and evaluation of these considerations are recommended in order to support and inform future communication skills training development.
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
Otaduy, Miguel A
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
van Beek, Femke E.; Bergmann Tiest, Wouter M.; Kappers, Astrid M. L.
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
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.
Bergmann Tiest, W.M.; Kosters, N.D.; Daanen, H.A.M.; Kappers, A.M.L.
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
Bergmann Tiest, W.M.; Dolfine Kosters, N.; Daanen, h.a.m.; Kappers, A.M.L.
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,
Bergmann Tiest, W.M.; Kosters, N.D.; Kappers, Astrid M.L.; Daanen, H.A.M.
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,
Mateos, J. C.; Carrera, F.; Gomez, A.; Luis, J.; Rodriguez, M.; Herrador, M.
The ICRP, in its publication 73 entitled Radiological Protection and Safety in Medicine states (paragraph 128) that one important need is to provide adequate resources for the education and training in radiological protection for future professional and technical staff in medical practice. The training programme should include initial training for all incoming staff and regular updating retraining. The European Directive 97/743/EURATOM on Medical Exposure (MED) lays down requirements for education and training. The document RP 116 published by the European commission give guidelines on Education and Training in Radiation Protection and in its paragraph 51 establish that Members States shall encourage the introduction of a course on radiation protection in the basic curriculum of medical and dental schools according to the EC Medical Exposure Directive (MED). In the Spanish legislation RD 815/2001 referred to the medical exposures, it is encourage the need for the introduction of Radiological Protection courses in Medicine and Dental schools with the objective of patient protection. In this study it has been analysed the actual situation of the education and training in Radiation Protection in Dental Schools in Spain. In addition it is described the experience of the University of Sevilla. The results of the study shows that only 4 from 9 dental schools have disciplines of Radiation Protection in its curriculum. In one of them the course is mandatory and has a content of 2 credits (20 hours). In the rest of dental schools the discipline has an optional character with an average of 4 credits. The discipline of Radiation Protection of the curriculum of Dental School at Sevilla university has 4 credits and it is configured as a course with the necessary requirements from the Spanish Nuclear Safety Council to obtain the Radiological Accreditation of Responsible of Dental Radiodiagnostic Installations. This diploma is given once the students have finished the Bachelor
Bracksley-O'Grady, Stacey A; Dickson-Swift, Virginia A; Anderson, Karen S; Gussy, Mark G
Dental diseases are a major burden on health; however, they are largely preventable. Dental treatment alone will not eradicate dental disease with a shift to prevention required. Prevention of dental diseases is a role of dental professionals, with most countries having formalized health promotion competencies for dental and oral health graduates. In spite of this, there may be minimal health promotion being undertaken in clinical practice. Therefore, the aim of this study was to conduct a scoping review to identify some published studies on health promotion training in dental and oral health degrees. Key search terms were developed and used to search selected databases, which identified 84 articles. Four articles met the inclusion/exclusion criteria and were included in the review. Of these studies, the type of oral health promotion tasks and instructions received before the tasks varied. However, for all studies the health promotion content was focused on health education. In terms of evaluation of outcomes, only two studies evaluated the health promotion content using student reflections. More good-quality information on health promotions training is needed to inform practice.
Alkhodary, Mohamed Ahmed; Abdelraheim, Abdelraheim Emad Eldin; Elsantawy, Abd Elaleem Hassan; Al Dahman, Yousef Hamad; Al-Mershed, Mohammed
It takes a lot of training on patients for both undergraduate to develop clinical sense as regards to the placement of dental implants in the jaw bones, also, the models provided by the dental implant companies for training are usually made of strengthened synthetic foams, which are far from the composition, and tactile sense provided by natural bone during drilling for clinical placement of dental implants. This is an in-vitro experimental study which utilized bovine femur bone, where the shaft of the femur provided the surface compact layer, and the head provided the cancellous bone layer, to provide a training model similar to jaw bones macroscopic anatomy. Both the compact and cancellous bone samples were characterized using mechanical compressive testing. The elastic moduli of the cancellous and cortical femur bone were comparable to those of the human mandible, and the prepared training model provided a more lifelike condition during the drilling and placement of dental implants. The composite bone model developed simulated the macroscopic anatomy of the jaw bones having a surface layer of compact bone, and a core of cancellous bone, and provided a better and a more natural hands-on experience for placement of dental implants as compared to plastic models made of polyurethane.
Edelstein, Burton; Vargas, Clemencia M; Candelaria, Devanie; Vemuri, Maryen
The purpose of this study was to describe and substantiate the experience of children, their families, and their caregivers with children's dental pain and to explore implications of these experiences for public policy. Data for 301 children presenting to 35 pediatric dentistry training programs during a 1-week period in 2000 for pain relief were collected with a questionnaire asking for: (1) sociodemographic characteristics; (2) oral health status; (3) dental care history; (4) presenting problem; (5) clinical findings; and (6) clinical disposition. Descriptive statistics are presented. Among children presenting to training programs with oral pain, 28% were under age 6, 57% were on Medicaid, and 38% were regarded by their dentists to have "likely or obvious" functional impairment-with 22% reporting the highest pain level. Parents reported that 59% had "poor or fair oral health" and 29% had a prior dental emergency in the previous year. Pain, experienced for several days by 73% of children, was associated with difficulty: (1) eating; (2) sleeping; (3) attending school; and (4) playing. Parent-reported barriers to seeking dental care included: (1) missed work (24%); (2) transportation costs (12%); and (3) arranging child care (10%). In this study of children with dental pain, many suffered significant pain: (1) duration; (2) intensity; (3) recurrence; and (4) consequences. This study demonstrates the ongoing need for public policies that assure timely, comprehensive, and affordable dental care for vulnerable children.
Cannick, Gabrielle F.; Horowitz, Alice M.; Garr, David R.; Reed, Susan G.; Neville, Brad W.; Day, Terry A.; Woolson, Robert F.; Lackland, Daniel T.
Although communications competency is recommended by the American Dental Education Association, only a few (n=5) dental schools report evaluating students’ skills using a competency examination for communication. This study used an objective structured clinical examination (OSCE) to evaluate dental students’ competency in interpersonal and tobacco cessation communication skills. All students were evaluated on their interpersonal communication skills at baseline and at six months post-OSCE by standardized patients and on their tobacco cessation communication skills by two independent raters. First- and second-year dental students (n=104) were randomized to a control or intervention group. One month after the baseline OSCE, students in the intervention group participated in a two-hour training session in which faculty members communicated with a standardized patient during a head and neck examination and counseled the patient about tobacco cessation. There were no statistically significant differences from baseline to post-test between the intervention and control group students as measured by the OSCE. However, among first-year students, both the intervention (n=23) and control (n=21) groups significantly increased in tobacco cessation communication scores. Second-year students in both intervention (n=24) and control (n=28) groups declined in interpersonal communication skills from baseline to post-test. Overall, this one-shot intervention was not successful, and results suggest that a comprehensive communication skills training course may be more beneficial than a single, brief training session for improving dental students’ communication skills. PMID:17761627
Saga, Satoshi; Konyo, Masashi
This book examines the state of the art in diverse areas of haptics (touch)-related research, including the psychophysics and neurophysiology of haptics, development of haptics displays and sensors, and applications to a wide variety of fields such as industry, education, therapy, medicine, and welfare for the visually impaired. It also discusses the potential of future haptics interaction, such as haptics for emotional control and remote haptics communication. The book offers a valuable resource not only for haptics and human interface researchers, but also for developers and designers at manufacturing corporations and in the entertainment industries.
This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression, and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction. · Presents haptic data prediction/estimation methods that compensate for unreliable networks · Discusses haptic data compression that reduces haptic data size over limited network bandwidth and haptic data error correction that compensate for packet loss problem · Provides signal processing techniques used with existing control architectures.
Elson, Bruce; Reynolds, Patricia; Amini, Ardavan; Burke, Ezra; Chapman, Craig
There is growing demand for dental education and training not only in terms of knowledge but also skills. This demand is driven by continuing professional development requirements in the more developed economies, personnel shortages and skills differences across the European Union (EU) accession states and more generally in the developing world. There is an excellent opportunity for the EU to meet this demand by developing an innovative online flexible learning platform (FLP). Current clinical online systems are restricted to the delivery of general, knowledge-based training with no easy method of personalization or delivery of skill-based training. The PHANTOM project, headed by Kings College London is developing haptic-based virtual reality training systems for clinical dental training. ANDROMEDA seeks to build on this and establish a Flexible Learning Platform that can integrate the haptic and sensor based training with rich media knowledge transfer, whilst using sophisticated technologies such as including service-orientated architecture (SOA), Semantic Web technologies, knowledge-based engineering, business intelligence (BI) and virtual worlds for personalization.
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.
3- oral health training (control group . Two weeks and two months after the intervention, plaque index was measured. Positive and negative changes were recorded over time, and then, the study data were analyzed using Chi-square (bonferroni adjustment, McNemar, Kruskal-Wallis and Paired t-Test. Results: The study results revealed no significant differences between the halitosis group and the traditional group, though both had a significant difference with the control group. Positive changes in halitosis group especially within girls were held to be more durable compared to the other groups. Conclusion: Oral health training accompanging training of oral malodor, tooth decay and periodontal disease seems to be more effective on health promotion of senior high school students in Yazd. Furthermore, oral malodor training produces more durable effects. As a result, this training style is recommended in regard with eductional programs of schools.
Bhola, S; Hellyer, P
The use of social media has greatly expanded in the last decade, with widespread use of smartphones, the internet, and other multimedia to enhance learning. There is evidence to suggest that social media has a place in healthcare education, but there is limited research to suggest the effectiveness or use of it in dental foundation training. This paper discusses the risks and benefits of social media and suggests that a better understanding of social media and its role in the development and practice of newly qualified dental professionals could benefit both trainees and trainers.
Kishimoto, N; Mukai, N; Honda, Y; Hirata, Y; Tanaka, M; Momota, Y
Every dental provider needs to be educated about medical emergencies to provide safe dental care. Simulation training is available with simulators such as advanced life support manikins and robot patients. However, the purchase and development costs of these simulators are high. We have developed a simulation training course on medical emergencies using an inexpensive software application. The purpose of this study was to evaluate the educational effectiveness of this course. Fifty-one dental providers participated in this study from December 2014 to March 2015. Medical simulation software was used to simulate a patient's vital signs. We evaluated participants' ability to diagnose and treat vasovagal syncope or anaphylaxis with an evaluation sheet and conducted a questionnaire before and after the scenario-based simulation training. The median evaluation sheet score for vasovagal syncope increased significantly from 7/9 before to 9/9 after simulation training. The median score for anaphylaxis also increased significantly from 8/12 to 12/12 (P simulation training. This simulation course improved participants' ability to diagnose and treat medical emergencies and improved their confidence. This course can be offered inexpensively using a software application. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Patterson, F; Ashworth, V; Mehra, S; Falcon, H
To pilot and evaluate a machine-markable situational judgement test (SJT) designed to select candidates into UK dental foundation training. Single centre pilot study. UK postgraduate deanery in 2010. Seventy-four candidates attending interview for dental foundation training in Oxford and Wessex Deaneries volunteered to complete the situational judgement test. The situational judgement test was developed to assess relevant professional attributes for dentistry (for example, empathy and integrity) in a machine-markable format. Test content was developed by subject matter experts working with experienced psychometricians. Evaluation of psychometric properties of the pilot situational judgement test (for example, reliability, validity and fairness). Scores in the dental foundation training selection process (short-listing and interviews) were used to examine criterion-related validity. Candidates completed an evaluation questionnaire to examine candidate reactions and face validity of the new test. Forty-six candidates were female and 28 male; mean age was 23.5-years-old (range 22-32). Situational judgement test scores were normally distributed and the test showed good internal reliability when corrected for test length (α = 0.74). Situational judgement test scores positively correlated with the management, leadership and professionalism interview (N = 50; r = 0.43, p fair. This initial pilot study suggests that a situational judgement test is an appropriate and innovative method to measure professional attributes (eg empathy and integrity) for selection into foundation training. Further research will explore the long-term predictive validity of the situational judgement test once candidates have entered training.
Riga, Vassiliki; Kossioni, Anastassia
In the health professions, competency in communication skills is necessary for the development of a satisfactory physician-patient interaction. Body expression is an important domain of the communication process, often not adequately addressed. The aim of this study was to describe the methodology and content of a pilot introductory training session in body expression for dental students before the beginning of their clinical training. The educational methods were based on experiential learning and embodied training, where the session's content focused on five themes representing different phases of the dental treatment session. A questionnaire was distributed before and after the session to assess any changes in students' self-perceptions in communication skills. There were statistically significant improvements in the total values of the students self-perceptions of their communication skills obtained before and after the training and in specific elements such as small group situations, performing an interview, understanding the feelings of others and expressing one's own feelings. The dental students in the present study felt that this preclinical experiential learning session improved their communication skills. The feedback from this training experience will enable further development of an effective communication course for clinical dentistry.
Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Gajananan, Kugamoorthy
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.
Hirokawa, Masakazu; Uesugi, Naohisa; Furugori, Satoru; Kitagawa, Tomoko; Suzuki, Kenji
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.
Lin, Ming C
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
Vuong, Nguyen Huu Lam; Kwon, Hyeok Yong; Chuc, Nguyen Huu; Kim, Duksang; An, Kuangjun; Phuc, Vuong Hong; Moon, Hyungpil; Koo, Jachoon; Lee, Youngkwan; Nam, Jae-Do; Choi, Hyouk Ryeol
In this paper, we present a new haptic interface, called "active skin", which is configured with a tactile sensor and a tactile stimulator in single haptic cell, and multiple haptic cells are embedded in a dielectric elastomer. The active skin generates a wide variety of haptic feel in response to the touch by synchronizing the sensor and the stimulator. In this paper, the design of the haptic cell is derived via iterative analysis and design procedures. A fabrication method dedicated to the proposed device is investigated and a controller to drive multiple haptic cells is developed. In addition, several experiments are performed to evaluate the performance of the active skin.
Broder, Hillary L; Janal, Malvin; Mitnick, Danielle M; Rodriguez, Jasmine Y; Sischo, Lacey
Previous studies have shown that a communications program using patient instructors (PIs) facilitates data-gathering and interpersonal skills of third-year dental students. The aim of this study was to address the question of whether those skills are retained into the students' fourth year and generalized from the classroom to the clinic. In the formative training phase, three cohorts of D3 students (N=1,038) at one dental school received instruction regarding effective patient-doctor communication; interviewed three PIs and received PI feedback; and participated in a reflective seminar with a behavioral science instructor. In the follow-up competency phase, fourth-year students performed two new patient interviews in the clinic that were observed and evaluated by clinical dental faculty members trained in communications. Mean scores on a standardized communications rating scale and data-gathering assessment were compared over training and follow-up sessions and between cohorts with a linear mixed model. The analysis showed that the third-year students' mean communication and data-gathering scores increased with each additional encounter with a PI (pcommunication scores were not only maintained but increased during the fourth-year follow-up competency evaluations (pcommunications curriculum, prior instruction facilitated the students' clinical communication performance at baseline (pCommunications program improved students' data-gathering and interpersonal skills. Those skills were maintained and generalized through completion of the D4 students' summative competency performance in a clinical setting.
This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation. The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. On...
Cuartielles, David; Göransson, Andreas; Olsson, Tony
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...
Suwelack, Stefan; Sander, Christian; Schill, Julian; Serf, Manuel; Danz, Marcel; Asfour, Tamim; Burger, Wolfgang; Dillmann, Rüdiger; Speidel, Stefanie
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.
Marchal-Crespo, Laura; van Raai, Mark; Rauter, Georg; Wolf, Peter; Riener, Robert
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
Amos, Kate J; Bearman, Margaret; Palermo, Claire
The aim of this study was to assess the literature on teaching and assessing dental students' record-keeping skills prior to qualification to practice independently as a dentist. A systematic literature review was performed using Ovid MEDLINE and SCOPUS. Keywords used in the search included dental, record, audit, education, and assessment. Electronic search results were screened for publications that targeted undergraduate dental training, related to a record-keeping education intervention, and were published in English and available in full text. Six studies met the inclusion and exclusion criteria. Data extraction and quality assessment were performed, and research findings were compared across the included studies. These six articles addressed the techniques used to teach and assess record-keeping skills in a pre-qualification context. The techniques included supervisor audits, peer audits, lectures, tutorials, research assignments, case reports, record-keeping templates, and checklists of required record components. The use of record audit as part of teaching and evaluation dominated these articles; it was used as the assessment method in five of the six studies. All methods of record-keeping training in studies published to date were found effective in improving student record-keeping skills. However, there was insufficient evidence to determine whether certain methods were more effective than others.
Rauter, Georg; Sigrist, Roland; Riener, Robert; Wolf, Peter
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.
In this greatly reworked second edition of Engineering Haptic Devices the psychophysic content has been thoroughly revised and updated. Chapters on haptic interaction, system structures and design methodology were rewritten from scratch to include further basic principles and recent findings. New chapters on the evaluation of haptic systems and the design of three exemplary haptic systems from science and industry have been added. This book was written for students and engineers that are faced with the development of a task-specific haptic system. It is a reference book for the basics of hap
Ando, Hideyuki; Kyung, Ki-Uk
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.
Daugherty, Heather N; Kearney, Rachel C
Purpose: The purpose of this study was to measure the change in levels of knowledge of providing culturally competent care and self-assessed cultural competence of senior level dental hygiene students after the implementation of an online cultural competence training module. Methods: Twenty-eight members of the senior class of 31 dental hygiene students (N=28) volunteered to participate in this IRB approved study at the Ohio State University School of Dentistry. The students took the online Inventory for Assessing the Process of Cultural Competence- Student Version (IAPCC-SV), to assess their self-perceived cultural competence. Upon completion of the pre-test, students then completed the United States Department of Health and Human Services (HHS) Office of Minority Health (OMH) Cultural Competency Program for Oral Health Professionals; a three-module online training program designed to measure increased knowledge of cultural competence. Three weeks following the initial pre-test and upon completion of the Cultural Competency Program for Oral Health Professionals online learning modules, students re-took the IAPCC-SV. Results: Twenty-eight senior dental hygiene students completed the IAPCC-SV pre-test, the OMH e-learning modules and the IAPCC-SV post-test. The average score on the pre-test was 55.14±7.54 and the average score on the post-test was 61.33±7.86. There was a significant difference in pre-test and post-test scores (pdental hygiene students' levels of knowledge of cultural competence. Copyright © 2017 The American Dental Hygienists’ Association.
Warren, Charles W; Sinha, Dhirendra N; Lee, Juliette; Lea, Veronica; Jones, Nathan; Asma, Samira
The Global Health Professions Student Survey (GHPSS) has been conducted among third-year dental students in schools in forty-four countries, the Gaza Strip/West Bank, and three cities (Baghdad, Rio de Janeiro, and Havana) (all called "sites" in this article). In more than half the sites, over 20 percent of the students currently smoked cigarettes, with males having higher rates than females in thirty sites. Over 60 percent of students reported having been exposed to secondhand smoke in public places in thirty-seven of forty-eight sites. The majority of students recognized that they are role models in society and believed they should receive training on counseling patients to quit using tobacco, but few reported receiving formal training. Tobacco control efforts must discourage tobacco use among dentists, promote smoke-free workplaces, and implement programs that train dentists in effective cessation-counseling techniques.
Taichman, Russell S.; Parkinson, Joseph W.
Leadership is vital in all professions and organizations. Our purpose was to determine where in dental schools leadership is taught, and to what degree it is emphasized so that we could establish a base line from which to generate recommendations for best practices. Therefore we surveyed all US Deans of Academic Affairs in Dental Schools to determine where in the curriculum leadership is taught and emphasized. Our results showed that leadership training is delivered in many different parts of the curriculum, and at various levels. Generally, respondents indicated that leadership education is delivered either in the setting of practice management, community outreach or in public health settings. In some cases, specific training programs are dedicated specifically to leadership development. Thus several models for leadership development were identified showing design and flexibility to address regional and national needs. In the future it would be of value to assess the effectiveness of the different models and whether single or multiple pathways for leadership training are most beneficial. PMID:22659699
Thornley, Peter; Quinn, Alyson
Clinical Audit (CA) has been recognized as a useful tool for tool for improving service delivery, clinical governance, and the education and performance of the dental team. This study develops the discussion by investigating its use as an educational tool within UK Dental Foundation Training (DFT). The aim was to investigate the views of Foundation Dentists (FDs) and Training Programme Directors (TPDs) on the CA module in their FD training schemes, to provide insight and recommendations for those supervising and undertaking CA. A literature review was conducted followed by a qualitative research methodology, using group interviews. The interviews were transcribed and thematically analyzed using NVIVO, a Computer-Assisted Qualitative Data Analysis tool. CA was found to be a useful tool for teaching management and professionalism and can bring some improvement to clinical practice, but TPDs have doubts about the long-term effects on service delivery. The role of the Educational Supervisor (ES) is discussed and recommendations are given for those supervising and conducting CA.
Full Text Available Clinical Audit (CA has been recognized as a useful tool for tool for improving service delivery, clinical governance, and the education and performance of the dental team. This study develops the discussion by investigating its use as an educational tool within UK Dental Foundation Training (DFT. The aim was to investigate the views of Foundation Dentists (FDs and Training Programme Directors (TPDs on the CA module in their FD training schemes, to provide insight and recommendations for those supervising and undertaking CA. A literature review was conducted followed by a qualitative research methodology, using group interviews. The interviews were transcribed and thematically analyzed using NVIVO, a Computer-Assisted Qualitative Data Analysis tool. CA was found to be a useful tool for teaching management and professionalism and can bring some improvement to clinical practice, but TPDs have doubts about the long-term effects on service delivery. The role of the Educational Supervisor (ES is discussed and recommendations are given for those supervising and conducting CA.
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...
Yovanoff, Mary; Pepley, David; Mirkin, Katelin; Moore, Jason; Han, David; Miller, Scarlett
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.
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
Pan, Jun J; Chang, Jian; Yang, Xiaosong; Zhang, Jian J; Qureshi, Tahseen; Howell, Robert; Hickish, Tamas
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.
Dellinges, Mark A; Curtis, Donald A
Faculty members are expected to write high-quality multiple-choice questions (MCQs) in order to accurately assess dental students' achievement. However, most dental school faculty members are not trained to write MCQs. Extensive faculty development programs have been used to help educators write better test items. The aim of this pilot study was to determine if a short workshop would result in improved MCQ item-writing by dental school faculty at one U.S. dental school. A total of 24 dental school faculty members who had previously written MCQs were randomized into a no-intervention group and an intervention group in 2015. Six previously written MCQs were randomly selected from each of the faculty members and given an item quality score. The intervention group participated in a training session of one-hour duration that focused on reviewing standard item-writing guidelines to improve in-house MCQs. The no-intervention group did not receive any training but did receive encouragement and an explanation of why good MCQ writing was important. The faculty members were then asked to revise their previously written questions, and these were given an item quality score. The item quality scores for each faculty member were averaged, and the difference from pre-training to post-training scores was evaluated. The results showed a significant difference between pre-training and post-training MCQ difference scores for the intervention group (p=0.04). This pilot study provides evidence that the training session of short duration was effective in improving the quality of in-house MCQs.
Wang, Liping; Li, Xianchun; Hsiao, Steven S.; Bodner, Mark; Lenz, Fred; Zhou, Yong-Di
Previous studies suggested that primary somatosensory (SI) neurons in well-trained monkeys participated in the haptic-haptic unimodal delayed matching-to-sample (DMS) task. In this study, 585 SI neurons were recorded in monkeys performing a task that was identical to that in the previous studies but without requiring discrimination and active…
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
Berástegui-Jimeno, Esther; Gay-Escoda, Cosme
Background Oral implant rehabilitation should be considered a treatment option for any edentulous patient and Implant Dentistry is currently a discipline taught in the undergraduate formation. The level of knowledge acquired and how the students perceive the quality of training in Implant Dentistry could assess to know if it is necessary to improve the syllabus. Material and Methods A questionnaire was developed with 11 questions: Basic knowledge (7); Perception of training received (2); Ways in which students would receive training (2). To be responded anonymously and voluntarily for undergraduates students in the Faculty of Dentistry (University of Barcelona, Spain). Results One hundred and seven students, 76 third year (Group A) and 31 fourth year (Group B) answered the questionnaire. In Group A, 98.68% of students and in Group B 93.54% believed they were poorly informed; 100% of both groups would prefer to receive more training as part of the degree or as postgraduate training through modular courses imparted by experts (A: 71,05%, B: 70,96%) Training through postgraduate programs or training given by private businesses were the least desirable options (A: 42%, B: 64.51%). Questions about basic knowledge acquired received varying responses, which might indicate a certain level of confusion in this area. Conclusions The undergraduate syllabus must be revised to include sufficient content and training to allow the student to indicate implant-based treatments based on evidence. Students would prefer training to be included in the undergraduate syllabus. Key words:Dental implants, dental students, dental education, dental syllabus, implant dentistry. PMID:28578375
Wang, Dangxiao; Zhang, Yuru; Yang, Xiaoxiao; Yang, Gaofeng; Yang, Yi
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.
Keck, Douglas B; Rutkauskas, John S; Clothey, Rebecca A
The need for an alternative means of delivery of a didactic curriculum to pediatric dental residents is described. It is our hope with this project to encourage a much-needed didactic curriculum for programs lacking faculty and to endorse other programs in which academicians exist but cannot cover all the material with which a resident needs to become familiar in the two years of postgraduate residency training. A decrease in faculty number due to retirement, debt burden, or marginal recruitment techniques along with an increase in positions in pediatric dentistry residency programs poses a unique educational dilemma. Using a mixed-method research methodology, we sent a twelve-question survey to 105 pediatric dentistry residency program directors and department chairs, followed by eight telephone interviews. Results from a 55 percent return rate show that the debt burden of most pediatric dental residents is well over $100,000 and that this affects a resident's decision to enter academia, as does the relative lack of positive recruitment techniques and poor faculty remuneration. The survey results affirm the need for improvement in the didactic curriculum of pediatric dentistry residents and show that program directors and department chairs also feel that an alternative delivery method using DVD or online/web-based programs would be welcomed. Despite their extremely heavy workloads, educators are willing to contribute by providing lectures or reading lists in their area of expertise.
Dennis, Matthew J; Bennett, Jeffrey D; DeLuke, Dean M; Evans, Erik W; Hudson, John W; Nattestad, Anders; Ness, Gregory M; Yeung, Allison
Dental procedures are often performed on patients who present with some level of medical fragility. In many dental schools, the exercise of taking a medical history is all too often a transcription of information to the dental chart, with little emphasis on the presurgical risk assessment and the development of a treatment plan appropriate to the medical status of the dental patient. Changes in dentistry, driven by an increasingly medically complex population of dental patients, combined with treatment advances rooted in the biomedical sciences necessitate the adaptation of our dental education to include a stronger background in systemic health. Many predoctoral educators in the American Association of Oral and Maxillofacial Surgeons (AAOMS) have expressed concern about the medical preparedness of our dental students; therefore, the AAOMS and its Committee on Predoctoral Education and Training have provided recommendations for improving the medical curriculum in predoctoral dental education, including a strengthening of training in clinical medicine and biomedical sciences, with specific recommendations for improved training of our dental students and dental faculty. Copyright © 2016 American Association of Oral and Maxillofacial Surgeons. Published by Elsevier Inc. All rights reserved.
Lalloo, Ratilal; McDonald, Jenny M
Non-attended appointments have impacts on the operations of dental clinics. These impacts vary from lost productivity, loss of income and loss of clinical teaching hours. Appointment data were analysed to assess the percentage of completed, failed to attend (FTA) and cancelled appointments at an Australian remote rural student dental clinic training facility. The demographic and time characteristics of FTA and cancelled appointments were analysed using simple and multivariate multinomial regression analysis, to inform interventions that may be necessary. Over the 2-year study period a total of 3,042 appointments were made. The percentage of FTA was 21.3% (N = 648) and cancelled appointments 13.7% (N = 418). The odds of an FTA were in excess of 4 times higher in patients aged 19-25 years (OR = 4.1; 95% CI = 2.3-7.3) and 26-35 years (OR = 4.4; 95% CI = 2.5-7.9) compared to patients 65 years and older. The odds of an FTA was 2.3 (95% CI = 1.8-3.1) times higher in public patients compared to private patients. The odds of a cancellation was 1.7 (95% CI = 1.1-2.6) times higher on a Friday compared to a Monday and 1.8 (95% CI = 1.1-2.9) times higher on the last appointment of the day compared to the first appointment. For cancelled appointments, 71.3% were cancelled on the day of the appointment and 16.6% on the day before. Non-attended appointments (FTA or cancelled) were common at this remote rural dental clinic training facility. Efforts to reduce these need to be implemented; including telephonic reminders, educating the community on the importance of attending their appointments, block booking school children and double booking or arranging alternative activities for the students at times when non-attendance is common.
Neupert, Carsten; Matich, Sebastian; Scherping, Nick; Kupnik, Mario; Werthschutzky, Roland; Hatzfeld, Christian
In this paper, we develop possible realizations of pseudo-haptic feedback in teleoperation systems based on existing works for pseudo-haptic feedback in virtual reality and the intended applications. We derive four potential factors affecting the performance of haptic feedback (calculation operator, maximum displacement, offset force, and scaling factor), which are analyzed in three compliance identification experiments. First, we analyze the principle usability of pseudo-haptic feedback by comparing information transfer measures for teleoperation and direct interaction. Pseudo-haptic interaction yields well above-chance performance, while direct interaction performs almost perfectly. In order to optimize pseudo-haptic feedback, in the second study we perform a full-factorial experimental design with 36 subjects performing 6,480 trials with 36 different treatments. Information transfer ranges from 0.68 bit to 1.72 bit in a task with a theoretical maximum of 2.6 bit, with a predominant effect of the calculation operator and a minor effect of the maximum displacement. In a third study, short- and long-term learning effects are analyzed. Learning effects regarding the performance of pseudo-haptic feedback cannot be observed for single-day experiments. Tests over 10 days show a maximum increase in information transfer of 0.8 bit. The results show the feasibility of pseudo-haptic feedback for teleoperation and can be used as design basis for task-specific systems.
Fu, Michael C; DeLuke, Levi; Buerba, Rafael A; Fan, Richard E; Zheng, Ying Jean; Leslie, Michael P; Baumgaertner, Michael R; Grauer, Jonathan N
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.
Rosen, B-G; Fall, A; Farbrot, A; Bergström, P; Rosen, S
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)
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.
Rowett, E; Patterson, F; Cousans, F; Elley, K
Objective and setting This paper describes the evaluation of a pilot situational judgement test (SJT) for selection into UK Dental Core Training (DCT). The SJT's psychometric properties, group differences based on gender and ethnicity, and candidate reactions were assessed.Methods The SJT targets four non-academic attributes important for success in DCT. Data were collected alongside live selection processes from five Health Education England local teams in the UK (N = 386). Candidates completed the pilot SJT and an evaluation questionnaire to examine their reactions to the test.Results SJT scores were relatively normally distributed and showed acceptable levels of internal reliability (α = 0.68). Difficulty level and partial correlations between scenarios and SJT total score were in the expected ranges (64.61% to 90.03% and r = 0.06 to 0.41, respectively). No group differences were found for gender, and group differences between White and BME candidates were minimal. Most candidates perceived the SJT as relevant to the target role, appropriate and fair.Conclusions This study demonstrated the potential suitability of an SJT for use in DCT selection. Future research should replicate these preliminary findings in other cohorts, and assess the predictive validity of the SJT for predicting key training and practice-based outcomes.
Srinivas Sulugodu Ramachandra
Full Text Available The essence of dental education is not only to impart knowledge but also to equip an aspiring clinician with all the para-phernalia to face most clinical situations if not all. What be-comes important here is the requirement that a student be not only observant but also have a precise idea of what a lesion or a surface should feel like under an instrument. No matter how far we have come in terms of pathogenesis and treatment of diseases of the oral cavity, there is still no one good way to teach a student about the tactile sense, be it while de-tecting calculus/caries or placing the incisions or detecting the smoothness of a restoration. Most often than not students learn these by a trial and error method. A not-so-recent development called Haptics may well be the answer to this predicament, at least in the near future. The concept which is extensively in use and indis-pensable in other fields like aviation, telecommunication etc is now making inroads into dentistry. It is essentially software which brings in the idea of giving the feedback response to applied force, be it simple exploration of caries or the fine pressure applied in placing an incision or an array of other areas/situations in dentistry where fine tactile sense becomes a prerequisite for intelligent diagnoses or cutting edge treatment procedures. The following write-up is an attempt to throw light on this new technology and the impact it may have on pre-clinical teaching in dentistry. The advantages, disadvantages be-tween manikin based dental simulators and haptics based dental simulators are also pre-sented.
Goodrich, Kenneth H.; Schutte, Paul C.; Williams, Ralph A.
The rapidly advancing capabilities of autonomous aircraft suggest a future where many of the responsibilities of today s pilot transition to the vehicle, transforming the pilot s job into something akin to driving a car or simply being a passenger. Notionally, this transition will reduce the specialized skills, training, and attention required of the human user while improving safety and performance. However, our experience with highly automated aircraft highlights many challenges to this transition including: lack of automation resilience; adverse human-automation interaction under stress; and the difficulty of developing certification standards and methods of compliance for complex systems performing critical functions traditionally performed by the pilot (e.g., sense and avoid vs. see and avoid). Recognizing these opportunities and realities, researchers at NASA Langley are developing a haptic-multimodal flight control (HFC) system concept that can serve as a bridge between today s state of the art aircraft that are highly automated but have little autonomy and can only be operated safely by highly trained experts (i.e., pilots) to a future in which non-experts (e.g., drivers) can safely and reliably use autonomous aircraft to perform a variety of missions. This paper reviews the motivation and theoretical basis of the HFC system, describes its current state of development, and presents results from two pilot-in-the-loop simulation studies. These preliminary studies suggest the HFC reshapes human-automation interaction in a way well-suited to revolutionary ease-of-use.
Furusawa, Masahiro; Yoshida, Takashi; Hosokawa, Souhei; Ariizumi, Yuugo
The success of root canal therapy is dependent not only on removal of infected pulp (pulpectomy) followed by root canal enlargement, but also on the pharmacological effects of intracanal medications. Various intracanal medications are used. Formaldehyde preparations such as formocresol were common in the past, but these are no longer used in Europe or the US due to the biological toxicity of formaldehyde. In this study, a questionnaire was used to determine current trends in the use of intracanal medications at dental care facilities where dental hygiene students undergo practical training. The questionnaire comprised questions regarding the types of frequently used intracanal medications and their methods of application at dental care facilities in Saitama and Shizuoka prefectures. The results indicated that calcium hydroxide preparations were more commonly used in Europe or the US. However, these results also revealed that formaldehyde preparations were frequently used, which slightly differs from the scenario in Europe and the US. This study revealed that multiple intracanal medications were used for root canal therapy. Furthermore, it was also observed that cotton plugs were generally used as applicator tips for intracanal medications, whereas the use of absorbent paper points was relatively uncommon. The results suggest that the cost of absorbent paper points needs to be reduced.
Jeong Ran Park
Full Text Available We tried to develop itemized evaluation criteria and a clinical rater qualification system through rating training of inter-rater consistency for experienced clinical dental hygienists and dental hygiene clinical educators. A total of 15 clinical dental hygienists with 1-year careers participated as clinical examination candidates, while 5 dental hygienists with 3-year educations and clinical careers or longer participated as clinical raters. They all took the clinical examination as examinees. The results were compared, and the consistency of competence was measured. The comparison of clinical competence between candidates and clinical raters showed that the candidate group?占퐏 mean clinical competence ranged from 2.96 to 3.55 on a 5-point system in a total of 3 instruments (Probe, Explorer, Curet, while the clinical rater group?占퐏 mean clinical competence ranged from 4.05 to 4.29. There was a higher inter-rater consistency after education of raters in the following 4 items: Probe, Explorer, Curet, and insertion on distal surface. The mean score distribution of clinical raters ranged from 75% to 100%, which was more uniform in the competence to detect an artificial calculus than that of candidates (25% to 100%. According to the above results, there was a necessity in the operating clinical rater qualification system for comprehensive dental hygiene clinicians. Furthermore, in order to execute the clinical rater qualification system, it will be necessary to keep conducting a series of studies on educational content, time, frequency, and educator level.
Full Text Available Introduction: Psychological disturbances in clinical dental students and teachers remain largely unknown. Aim: To describe the psychological health of clinical dental students and their trainers in an institution in India. Materials and Methods: A cross-sectional, questionnaire-based study was conducted among clinical dental students and faculty of an Indian dental college in November 2014. The questionnaire consisted of depression anxiety stress scales-21 (DASS 21, a short version of the original 42-item DASS. Data were compiled on SPSS version 21. Group comparisons were done and P values were obtained. All tests were two-tailed with significance set at P< 0.05. Results: Stress scores were found to be higher in students as compared to trainers (P = 0.040, with the highest scores for undergraduate students. Statistically, significant difference was seen in stress scores between graduate and postgraduate trainers (P = 0.015, undergraduates and postgraduate trainers (P = 0.005, and postgraduate trainers and students (P = 0.029. A significant difference was also observed between depression scores in graduate and postgraduate trainers (P = 0.006 as well as postgraduate trainers and students (P = 0.041. Females had significantly higher level of stress (P = 0.007 and anxiety (P = 0.003 scores as compared to males. Conclusion: Stress, anxiety, and depression scores in dental students are higher than trainers. Undergraduate students among all showed the highest scores for all three parameters. Different approaches to reduce them should be further investigated and utilized at the earliest.
Gang, Han Gyeol; Park, Jiong Min; Choi, Seung-Bok; Sohn, Jung Woo
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.
Riener, R; Villgrattner, T; Kleiser, R; Nef, T; Kollias, S
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.
Alaraj, Ali; Luciano, Cristian J; Bailey, Daniel P; Elsenousi, Abdussalam; Roitberg, Ben Z; Bernardo, Antonio; Banerjee, P Pat; Charbel, Fady T
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.
Hussein, Sami; Kruger, Jörg
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
Salisbury, Curt; Salisbury, Jr., J. Kenneth
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.
Dental anaesthesia should not be underestimated. Eddie Oosthuizen .... dental surgeon has limited training in airway management. ... primary teeth to hours for extensive dental conservation .... options after the extraction of permanent teeth ...
Bouwer, A.; Holland, S.; Dalgleish, M.; Holland, S.; Wilkie, K.; Mulholland, P.; Seago, A.
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
Full Text Available OBJECTIVE: To determine how early musculoskeletal disorders (MSDs develop in dental professionals and to explore the potential differences among distinct dental specialties. MATERIAL AND METHODS: 271 dental postgraduates majoring in five dental specialties were recruited, i.e., orthodontics, prosthodontics, endodontics, periodontics and alveolar surgery. 254 age-matched non-dental postgraduates served as the control. The standardized Nordic questionnaire on MSDs and a self-report questionnaire regarding correlative factors (only for dental postgraduates were answered through emails. Reliability of responses was assessed applying test-retest method. RESULTS: The intraclass correlation coefficient of participants' answers ranged from 0.89 to 0.96. Dental postgraduates had significantly higher prevalence of MSDs than the control group, especially at neck, upper back and lower back. In all dental specialties included, high prevalence of MSDs was reported at neck (47.5%-69.8%, shoulders (50.8%-65.1%, lower back (27.1%-51.2% and upper back (25.6%-46.5%, with lower prevalence at elbows (5.1%-18.6%, hips (3.4%-16.3% and ankles (5.1%-11.6%. Periodontics students reported the worst MSDs in most body regions except wrists and knees, which were more prevalent for prosthodontic and alveolar surgery students, respectively. Furthermore, year of clinical work, clinical hours per week and desk hours per week were found as risk factors for MSDs, whereas physical exercise and rest between patients as protective factors. CONCLUSIONS: High and specialty-related MSDs afflict dental professionals even since very early stage of careers. Prevention aimed at the specialty-related characteristics and the risk/protective factors revealed in this study should be introduced to dental personnel as early as possible.
John, Vanchit; Lee, Seung-Jun; Prakasam, Sivaraman; Eckert, George J; Maupome, Gerardo
Considerable disagreements and variations exist in diagnosis and treatment planning of periodontal disease. Achieving high interrater periodontal diagnosis can prove challenging. The objectives of this study were to measure variations in periodontal diagnosis and treatment planning among predoctoral periodontics faculty members after consensus training and to compare such variation with those identified in third- and fourth-year dental students. Nine electronically stored case vignettes and survey instruments were made available to eighteen faculty members and twenty dental students under standardized conditions. A chi-square test was used to compare responses between groups, and multirater kappa tests were used to evaluate interrater agreement/reliability. Of the nine cases, only one differed between groups significantly in terms of treatment. Also, third-year students differed from fourth-year students on the diagnosis of aggressive periodontitis versus chronic periodontitis. Most respondents were able to distinguish clearly among diagnoses of chronic periodontitis, aggressive periodontitis, and gingivitis. This study established a baseline assessment of the current status of consensus after training. We will reassess variations after addressing the specific challenges identified. Programs designed and implemented to help decrease the variation in periodontal diagnosis and treatment planning among faculty members may ultimately translate into better agreement and better standardization of dental instruction.
Kalsi, H K; Kalsi, J S; Fisher, N L
Workplace-based assessments (WBAs) are trainee-led formative assessments that measure the highest level of competence of the ability to do a task. So far WBAs are the only available assessment tools to measure performance integrated into practice. Over the years, WBAs have become an integral part of dental foundation and specialty training. The numerous WBAs available can be broadly categorised into three types. The first type involves observation of clinical encounters, for example mini-clinical evaluation exercises; direct observation of procedural skills; and dental evaluation of performance and procedure-based assessments. The second type involves discussion of clinical cases, such as case-based discussions. Finally, the third type includes the mini-peer assessment tool, team assessment of behaviour, 360° assessments and multi-source feedback, and all involve receiving feedback from a combination of colleagues, staff and patients. This article describes the WBAs currently used in postgraduate dental training and explores their strengths, weaknesses, perceived value by trainees and trainers and how these tools can be used in a reliable and valid way.
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
Moix, Thomas; Ilic, Dejan; Fracheboud, Blaise; Zoethout, Jurjen; Bleuler, Hannes
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.
Joan De Boeck
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.
Corrie I. Nichol; Milos Manic
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.
Cuartielles, David; Göransson, Andreas; Olsson, Tony
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...
Nijholt, Antinus; Dijk, Esko O.; Lemmens, Paul M.C.; Luitjens, S.B.
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
Han, Insook; Black, John B.
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…
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.
This study was designed to determine the types and incidence of dental conditions that occur in a variety of operational scenarios and to identify the appropriate mix of supplies for treating those conditions...
Novak, Karen F; Whitehead, Albert W; Close, John M; Kaplan, Alan L
Intercultural competence is an important component of the doctor-patient relationship in the multicultural climate evolving in the United States. We hypothesized that 1) exposure to racial and ethnic diversity in the student body, faculty, staff, and patient population in dental school and 2) a dental school curriculum that includes presentations on issues concerning racial and ethnic diversity will contribute to students' feeling more competent and confident to enter the multicultural work environment that is rapidly developing in the United States. A Likert-type scale questionnaire was administered to 627 fourth-year dental students enrolled in seven dental schools representing geographically diverse regions of the United States. Of these, 376 questionnaires were returned for a response rate of 60 percent. Results indicated that both the perception of diversity in the school environment and the presentation of diversity-specific content in the curriculum had moderately positive and significant correlations with the students' perception of their competency or ability to serve and work with diverse populations. The respective Pearson correlation coefficients for diversity in the school environment and diversity curriculum were .497 (ptraining in the dental school environment are important for dental students entering a multicultural workplace.
Shirin eDavarpanah Jazi
Full Text Available An emerging issue in movement neurosciences is whether haptic feedback influences the nature of the information supporting a simulated grasping response (i.e., pantomime-grasping. In particular, recent work by our group contrasted pantomime-grasping responses performed with (i.e., PH+ trials and without (i.e., PH- trials terminal haptic feedback in separate blocks of trials. Results showed that PH- trials were mediated via relative visual information. In contrast, PH+ trials showed evidence of an absolute visuo-haptic calibration – a finding attributed to an error signal derived from a comparison between expected and actual haptic feedback (i.e., an internal forward model. The present study examined whether advanced knowledge of haptic feedback availability influences the aforementioned calibration process. To that end, PH- and PH+ trials were completed in separate blocks (i.e., the feedback schedule used in our group’s previous study and a block wherein PH- and PH+ trials were randomly interleaved on a trial-by-trial basis (i.e., random feedback schedule. In other words, the random feedback schedule precluded participants from predicting whether haptic feedback would be available at the movement goal location. We computed just-noticeable-difference (JND values to determine whether responses adhered to, or violated, the relative psychophysical principles of Weber’s law. Results for the blocked feedback schedule replicated our group’s previous work, whereas in the random feedback schedule PH- and PH+ trials were supported via relative visual information. Accordingly, we propose that a priori knowledge of haptic feedback is necessary to support an absolute visuo-haptic calibration. Moreover, our results demonstrate that the presence and expectancy of haptic feedback is an important consideration in contrasting the behavioral and neural properties of natural and stimulated (i.e., pantomime-grasping grasping.
Platkiewicz, Jonathan; Lipson, Hod; Hayward, Vincent
Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals.
Simon, Sibu Sajjan; Ramachandra, Srinivas Sulugodu; Abdullah, Datuk Dr Fawzia; Islam, Md Nurul; Kalyan, C G
Political crisis and worsening security situation in Egypt in late 2013 resulted in Malaysian students who were pursuing their dental education in Egypt being recalled home to Malaysia. The Ministry of Higher Education in Malaysia took steps to integrate these students into public and private universities in Malaysia. We used a questionnaire and informal interviews to learn from students returning from Egypt about their experiences transitioning from dental schools in Egypt to Malaysia. We discuss the challenges students faced with regards to credit transfer, pastoral care, the differences in the curriculum between the dental faculties of the two nations, and the financial implications of this disruption of their training. We live in a fragile world where similar political situations will surely arise again. The approaches used by the Malaysian government and the lessons learned from these students may help others. The perspectives of these students may help educators reintegrate expatriate students who are displaced by political instability back into the education system of their own countries.
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.
Kern, T A; Herrmann, J; Klages, S; Meiss, T; Werthschützky, R
During catheterization navigation within the patient is mainly dependent on a live x-ray image on the screen. Although methods for 3D visualisation and remote navigation of the catheter are discussed and tested still precise positioning is merely the result of intense training and a high skill and level of training of the performing surgeon. This article refers to a system which can be considered as an add-on for existing procedures of catheterization. It compromises of a miniaturised force sensor located at the tip of guide-wires whose prototype is shown here. The measured forces will be presented to the surgeon amplified by an external actuator described in this article. As a result a haptic perception of the forces between the tip of the guide-wire and the vessels walls will be available and enable the surgeon to gain an impression which is comparable to palpation of living vessels from the inside
Ozsecen, Muzaffer Y.; Sivak, Mark; Mavroidis, Constantinos
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.
Kaas, Amanda L; Mier, Hanneke I van
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.
Zhang, Shusheng; Wang, Dangxiao; Afzal, Naqash; Zhang, Yuru; Wu, Ruilin
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.
Hellman, Randall B; Tekin, Cem; van der Schaar, Mihaela; Santos, Veronica J
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.
Woo, Hyun Soo; Kim, Woo Seok; Ahn, Woojin; Lee, Doo Yong; Yi, Sun Young
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.
Wang, Dangxiao; Zhang, Yuru
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
Lee, Huai-Ping; Audette, Michel; Joldes, Grand R.; Enquobahrie, Andinet
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.
Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju
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.
Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae
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
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
Hagelsteen, Kristine; Langegård, Anders; Lantz, Adam; Ekelund, Mikael; Anderberg, Magnus; Bergenfelz, Anders
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].
Objectives - To explore the degree of agreement on issues surrounding the proposals for dental health personnel requirements among key oral health personalities who are central to determining policy on oral health personnel requirements for Ghana and to make recommendations to assist in the future development of ...
Kirstein Høgel, Arine
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...
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.
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
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.
British Association for the Study of Community Dentistry (BASCD) guidance on the statistical aspects of training and calibration of examiners for surveys of child dental health. A BASCD coordinated dental epidemiology programme quality standard.
Pine, C M; Pitts, N B; Nugent, Z J
The British Association for the Study of Community Dentistry (BASCD) is responsible for the coordination of locally based surveys of child dental health which permit local and national comparisons between health authorities and regions. These surveys began in 1985/86 in England and Wales, 1987/88 in Scotland and 1993/94 in Northern Ireland. BASCD has taken an increasing lead in setting quality standards in discussion with the NHS Epidemiology Coordinators of the Dental Epidemiology Programme. This paper comprises guidance on the statistical aspects of training and calibration of examiners for these surveys.
Yovanoff, Mary; Pepley, David; Mirkin, Katelin; Moore, Jason; Han, David; Miller, Scarlett
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-Hapt...
Apply medication/treat carious lesion g. Irrigate pericoroniti3 h. Drain periodontal abscess i. Apply temporary sedative crown to fractured tooth J...TASKS a. Educate patients regarding relationship of plaque, caries, periodontal disease and oral health b. Instruct patient in use of plaque...microorganisms, caries Causes and effects of periodontal disease 35 I| Competency: DENTAL ASSISTANT (DA) Unit: Preventive Dentistry ( MODULE 3: ORAL
Alió, Jorge L; Plaza-Puche, Ana B; Javaloy, Jaime; Ayala, María José; Vega-Estrada, Alfredo
To compare the visual and intraocular optical quality outcomes with different designs of the refractive rotationally asymmetric multifocal intraocular lens (MFIOL) (Lentis Mplus; Oculentis GmbH, Berlin, Germany) with or without capsular tension ring (CTR) implantation. One hundred thirty-five consecutive eyes of 78 patients with cataract (ages 36 to 82 years) were divided into three groups: 43 eyes implanted with the C-Loop haptic design without CTR (C-Loop haptic only group); 47 eyes implanted with the C-Loop haptic design with CTR (C-Loop haptic with CTR group); and 45 eyes implanted with the plate-haptic design (plate-haptic group). Visual acuity, contrast sensitivity, defocus curve, and ocular and intraocular optical quality were evaluated at 3 months postoperatively. Significant differences in the postoperative sphere were found (P = .01), with a more myopic postoperative refraction for the C-Loop haptic only group. No significant differences were detected in photopic and scotopic contrast sensitivity among groups (P ⩾ .05). Significantly better visual acuities were present in the C-Loop haptic with CTR group for the defocus levels of -2.0, -1.5, -1.0, and -0.50 D (P ⩽.03). Statistically significant differences among groups were found in total intraocular root mean square (RMS), high-order intraocular RMS, and intraocular coma-like RMS aberrations (P ⩽.04), with lower values from the plate-haptic group. The plate-haptic design and the C-Loop haptic design with CTR implantation both allow good visual rehabilitation. However, better refractive predictability and intraocular optical quality was obtained with the plate-haptic design without CTR implantation. The plate-haptic design seems to be a better design to support rotational asymmetric MFIOL optics. Copyright 2013, SLACK Incorporated.
Full Text Available Abstract Background Teaching the principles of scientific research in a comprehensive way is important at medical and dental schools. In many countries medical and dental training is not complete until the candidate has presented a diploma thesis. The objective of this study was to evaluate the nature, quality, publication pattern and visibility of Finnish medical diploma theses. Methods A total of 256 diploma theses presented at the University of Oulu from 2001 to 2003 were analysed. Using a standardised questionnaire, we extracted several characteristics from each thesis. We used the name of the student to assess whether the thesis resulted in a scientific publication indexed in medical article databases. The number of citations received by each published thesis was also recorded. Results A high proportion of the theses (69.5% were essentially statistical in character, often combined with an extensive literature review or the development of a laboratory method. Most of them were supervised by clinical departments (55.9%. Only 61 theses (23.8% had been published in indexed scientific journals. Theses in the fields of biomedicine and diagnostics were published in more widely cited journals. The median number of citations received per year was 2.7 and the range from 0 to 14.7. Conclusion The theses were seldom written according to the principles of scientific communication and the proportion of actually published was small. The visibility of these theses and their dissemination to the scientific community should be improved.
Nieminen, Pentti; Sipilä, Kirsi; Takkinen, Hanna-Mari; Renko, Marjo; Risteli, Leila
Teaching the principles of scientific research in a comprehensive way is important at medical and dental schools. In many countries medical and dental training is not complete until the candidate has presented a diploma thesis. The objective of this study was to evaluate the nature, quality, publication pattern and visibility of Finnish medical diploma theses. A total of 256 diploma theses presented at the University of Oulu from 2001 to 2003 were analysed. Using a standardised questionnaire, we extracted several characteristics from each thesis. We used the name of the student to assess whether the thesis resulted in a scientific publication indexed in medical article databases. The number of citations received by each published thesis was also recorded. A high proportion of the theses (69.5%) were essentially statistical in character, often combined with an extensive literature review or the development of a laboratory method. Most of them were supervised by clinical departments (55.9%). Only 61 theses (23.8%) had been published in indexed scientific journals. Theses in the fields of biomedicine and diagnostics were published in more widely cited journals. The median number of citations received per year was 2.7 and the range from 0 to 14.7. The theses were seldom written according to the principles of scientific communication and the proportion of actually published was small. The visibility of these theses and their dissemination to the scientific community should be improved.
Harris, J C; Elcock, C; Sidebotham, P D; Welbury, R R
Following several highly publicised inquiries into the deaths of children from abuse and neglect, there has been much recent interest in the role and responsibility of all health professionals to protect children at risk of maltreatment. The findings of a postal questionnaire, sent in March 2005 to 789 dentists and dental care professionals with an interest in paediatric dentistry working in varied settings in the UK, are presented in a two-part report and discussed in the context of current multi-agency good practice in safeguarding and promoting the welfare of children. This first part explores reported child protection training, experience and practice. There was a significant gap between recognising signs of abuse and responding effectively: 67% of respondents had suspected abuse or neglect of a child patient at some time in their career but only 29% had ever made a child protection referral. The dental profession is alerted to the need to ensure necessary appropriate action to safeguard children is always taken when child abuse or neglect are suspected.
Moreno-Montañés, Javier; Fernández-Hortelano, Ana; Caire, Josemaría
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.
Wanyonyi, K L; Radford, D R; Gallagher, J E
To investigate changes in the patient population and treatment case-mix within an expanded primary care dental training facility in Southern England. Cross-sectional analysis of patient management system data. Electronic data for patients with a closed/completed treatment plan in the 12-month period prior to, and following, dental service expansion were extracted for analysis (n = 4343). Descriptive analysis involved age, sex, payment status, deprivation status and treatment activity. Logistic regression was used to model the likelihood of treatment involving laboratory constructed devices (crowns, bridges, dentures), in relation to demography and deprivation in each time period. The volume of patients using the service increased by 48.3% (1749 cf 2594). The average age increased from 31.97 (95%CI: 30.8, 32.5) to 36.4 years (95%CI: 35.6, 37.1); greatest increase was in the over 75 years age-group (96%). The patient base became less deprived: patients exempt from payment reduced from 43.2% (n = 755) to 28.6% (n = 741) (P = 0.001) and the mean population deprivation score (IMD) reduced from 24.5 (95%CI: 23.8, 25.2) to 22.3 (95%CI: 21.7, 22.8). The volume and proportion of care involving laboratory constructed devices increased from 8.3% (n = 145) to 15.8% (n = 411) whilst assessments without interventive care decreased (34.5%-26.3%). On a logistic regression, the odds of having treatment involving laboratory constructed devices, increased with increasing age in both time periods 7% (95% CI: 1.06-1.08) and 6% (95% CI: 1.05-1.07) respectively. Furthermore, the odds increased by 38% OR: 1.38 (95% CI: 1.01-1.89) in period 2, for white patients. After adjusting for these effects, the odds of having care that involved laboratory constructed devices were less in period 2 than period 1 (100% cf 43%) for those who were technically exempt from payment (OR = 2.0; 95% CI 1.34 to 2.90 cf, OR = 1.43; 95% CI 1.13-1.81). The patient population altered in relation to age and socio
Alaraj, Ali; Luciano, Cristian J.; Bailey, Daniel P.; Elsenousi, Abdussalam; Roitberg, Ben Z.; Bernardo, Antonio; Banerjee, P. Pat; Charbel, Fady T.
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
Thornley, P; Quinn, A; Elley, K
This study reports on an investigation into clinical audit (CA) educational and service delivery outcomes in a dental foundation training (DFT) programme. The aim was to investigate CA teaching, learning and practice from the perspective of foundation dentists (FDs) and to record suggestions for improvement. A qualitative research methodology was used. Audio recordings of focus group interviews with FDs were triangulated by an interview with a group of training programme directors (TPDs). The interviews were transcribed and thematically analysed using a 'Framework' approach within Nvivo Data Analysis Software. FDs report considerable learning and behaviour change. However, TPDs have doubts about the long-term effects on service delivery. There can be substantial learning in the clinical, managerial, communication and professionalism domains, and in the development of time management, organisational and team-working skills. Information is provided about use of resources and interaction with teachers and colleagues. CA provides learning opportunities not produced by other educational activities including 'awkward conversations' with team-members in the context of change management and providing feedback. This is relevant when applying the recommendations of the Francis report. This paper should be useful to any dentist conducting audit or team training. Suggestions are made for improvements to resources and support including right touch intervention. Trainers should teach in the 'Goldilocks Zone'.
Tarcisio Torres Silva
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.
Sørensen, Thomas Sangild; Mosegaard, Jesper
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....
Berg, Rob; Call, Richard L; Maguire, Kerry; Berkey, Douglas B; Karshmer, Bernard A; Guyton, Brad; Tawara-Jones, Karen
The University of Colorado Denver School of Dental Medicine has operated a community-based dental education program for all of its students since 1985. A database of student productivity has been maintained in a standardized format, capable of multiyear compilation, since 1994. This study utilizes twelve years of these data to profile the type and amount of clinical treatment that can be provided by a typical fourth-year dental student during a 100-day community-based training experience. Between 1994 and 2006, the school's 423 graduates provided a mean of 922 treatment procedures per student at a mean of 498 patient visits per student. During a typical four-week clinical affiliation, each student provided a mean of approximately twenty-seven restorations on permanent teeth, sixteen restorations on primary teeth, and twenty-four oral surgery procedures (extractions). Students also gained considerable experience in periodontics, fixed and removable prosthodontics, and endodontics. Self-assessed competency ratings tended to increase after completing the program, as did willingness to treat underserved populations after graduation. About 16 percent of graduates reported planning to practice in the public sector after completing dental school. A community-based experience such as this appears to offer an opportunity to substantially augment dental students' clinical training experiences.
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...
Wu, Junrong; Feng, Xiaoli; Chen, Aijie; Zhang, Yanli; Liu, Qi; Shao, Longquan
In China, the five-year program of undergraduate education for stomatology consists of four years of lecture courses and one year of internship focused on clinical training. Dental schools provide this clinical training either in their own clinics (referred to as the one-stage pattern because all forms of practice are completed together) or by placing students in external clinics usually at non-affiliated hospitals (referred to as the three-stage program because the three primary areas are taught separately). The aims of this study were to investigate differences in teaching effect between the one-stage and the three-stage patterns and to evaluate advantages and disadvantages of the two patterns. A three-section, 31-item questionnaire was designed to assess basic and clinic information about the interns' training and their self-confidence in performing clinical procedures. The survey was administered to graduates who finished the fifth-year internship in 2012-14. Of the 356 individuals invited to participate, 303 graduates who spent their intern years in 43 academic dental institutions returned completed surveys (response rate of 85%). The one-stage group (n=121) reported longer independent operation time than the three-stage group (n=182) (p<0.01). No significant difference was found between the groups for assessment of clinic infrastructure (p=0.121). The interns were most confident in oral hygiene instruction and scale and polish (overall median=5), but showed low confidence in rubber dam placement and four other procedures (overall median=2). The one-stage group rated their confidence level higher than the three-stage group on comprehensive skills such as arranging appointments and managing patients and procedures needing long treatment periods such as molar endodontics. The three-stage group showed higher confidence on more specialized procedures such as surgical extractions and suturing. This study found that both of the two intern patterns had advantages and
Feder, J M; Rosenberg, M A; Farber, M D
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.
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.
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.
Hill, Heather K; Stewart, Denice C L; Ash, Joan S
Health Information Technology Systems (HITS) are becoming more widely integrated into patient care in the dental school setting. The purpose of this study was to evaluate the impact of a chairside HITS on users in the dental school setting. Qualitative techniques, including interviews, focus groups and observations, were used. Using grounded theory, we saw 9 themes emerge. One theme of particular interest was that "training and support needs of end-users were significant." This paper explores this theme in detail and discusses the implications.
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...
Klatzky, R L; Loomis, J M; Lederman, S J; Wake, H; Fujita, N
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.
Nordahl, Rolf; Berrezag, Amir; Dimitrov, Smilen
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...
Neri, Luis; Noguez, Julieta; Robledo-Rella, Victor; Escobar-Castillejos, David; Gonzalez-Nucamendi, Andres
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…
Gelineck, Steven; Overholt, Daniel
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...
Han, Young-Min; Noh, Kyung-Wook; Choi, Seung-Bok; Lee, Yang-Sub
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
Waade, Anne Marit; Jørgensen, Ulla Angkjær
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...
Turchet, Luca; Serafin, Stefania
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....
Font, I.; Weiland, S.; Franken, M.; Steinbuch, M.; Rovers, A.F.
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
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
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
Ryge, Andreas Nicolaj; Thomsen, Lui Albæk; Berthelsen, Theis
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...
Danieau, F; Lecuyer, A; Guillotel, P; Fleureau, J; Mollet, N; Christie, M
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.
... Products and Medical Procedures Dental Devices Dental Amalgam Dental Amalgam Share Tweet Linkedin Pin it More sharing options Linkedin Pin it Email Print Dental amalgam is a dental filling material which is ...
Gillespie, Brent; Rosenberg, Louis B.
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.
Marchal-Crespo, Laura; Bannwart, Mathias; Riener, Robert; Vallery, Heike
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.
ANDERSON, THOMAS G.; BRECKENRIDGE, ARTHURINE; DAVIDSON, GEORGE S.
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
Pérez Arias, Antonia; Hanebeck, Uwe D.
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...
Adams, Brooke N; Kirkup, Michele L; Willis, Lisa H; Reifeis, Paul E
At Indiana University School of Dentistry, a New Clinical Faculty Training (NCFT) program was created with the primary goals of informing new part-time faculty members of clinical policies and assessment guidelines and thus developing qualified and satisfied faculty members. The aim of this study was to determine if participation in the training program improved the participants' satisfaction and competence in comparison to their colleagues who did not participate in the program. Two cohorts were compared: a control group of part-time faculty members who did not receive formal training when they were hired (n=21; response rate 58.3%); and the intervention group, who had participated in the NCFT program (n=12; response rate 80%). A survey of faculty members in the control group gathered information on their experiences when initially hired, and a pretest was administered to measure their knowledge of clinical policies. After the control group was given an overview of the program, their feedback was collected through post surveys, and a posttest identical to the pretest was given that found statistically significant increases on questions one (p=0.003) and four (p=0.025). In February 2014, 15 new faculty members participated in the pilot implementation of the NCFT program. Of those 15, 12 (the intervention group) completed follow-up surveys identical to the pre survey used with the control group. Statistically significant differences were found for the factors clinical teaching (p=0.005) and assessment training (p=0.008) with better responses for the NCFT group. These results suggest that participation in the program was associated with improved clinical teaching knowledge and job satisfaction.
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.
Bobbitt, III, John Thomas
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.
Evans, J; Henderson, A; Johnson, N
Teamwork is essential for the provision of contemporary, high quality oral health care. Teamwork skills need to be taught and learnt and therefore ought to be one of the core competencies in all dental education programmes: dentistry, oral health therapy, dental technology and dental assisting. Currently, lack of opportunities for collaborative learning and practice within educational establishments, and in the practising professions, hamper the development of effective teamwork. For students across oral health care, learning 'together' requires positive action for teamwork skills to be developed. Interprofessional curricula need to be formally developed, based on evidence from the wider education literature that demonstrates how to maximise the engagements needed for teamwork in practice. Rigorous study of interprofessional education within dentistry and oral health is in its infancy. Anecdotal evidence indicates that dental technology students who experience an interprofessional curriculum are better prepared for collaborative practice. Formalised interprofessional education is posited as an effective strategy to improve interactions among oral health professionals leading to improved patient care. This paper reviews the extant literature and describes the approach currently being trialled at Griffith University.
Ittyerah, Miriam; Marks, Lawrence E
The present study examined the role of vision and haptics in memory for stimulus objects that vary along the dimension of curvature. Experiment 1 measured haptic-haptic (T-T) and haptic-visual (T-V) discrimination of curvature in a short-term memory paradigm, using 30-second retention intervals containing five different interpolated tasks. Results showed poorest performance when the interpolated tasks required spatial processing or movement, thereby suggesting that haptic information about shape is encoded in a spatial-motor representation. Experiment 2 compared visual-visual (V-V) and visual-haptic (V-T) short-term memory, again using 30-second delay intervals. The results of the ANOVA failed to show a significant effect of intervening activity. Intra-modal visual performance and cross-modal performance were similar. Comparing the four modality conditions (inter-modal V-T, T-V; intra-modal V-V, T-T, by combining the data of Experiments 1 and 2), in a global analysis, showed a reliable interaction between intervening activity and experiment (modality). Although there appears to be a general tendency for spatial and movement activities to exert the most deleterious effects overall, the patterns are not identical when the initial stimulus is encoded haptically (Experiment 1) and visually (Experiment 2).
Rizun, P; Gunn, D; Cox, B; Sutherland, G
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.
Park, Chulwook; Kim, Seonjin
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.
McIntosh, Mark S; Konzelmann, Jason; Smith, Jeffrey; Kalynych, Colleen J; Wears, Robert L; Schneider, Howard; Wylie, Todd; Kaminski, Anne; Matar-Joseph, Madeline
The objective of this investigation is to use a dental simulation model to compare splinting and bandaging methods for managing tooth avulsions and fractures, as measured by dentist evaluators for quality and time to complete each stabilization procedure. This was a randomized crossover study comparing 3 splinting techniques for managing a traumatically avulsed tooth (periodontal pack, wire, and bondable reinforcement ribbon) and 2 bandage techniques for managing a fractured tooth (calcium hydroxide paste and light-cured composite). After viewing a Just-in-Time training video, a convenience sample of emergency physicians performed the 5 stabilization techniques on dental models containing extracted teeth embedded in clay to simulate a segment of the human dentition. Data collected included time to complete each procedure, the evaluation of dentists about whether the procedure was performed satisfactorily or unsatisfactorily, and the ranking of dentists' and participants' preferred technique. Twenty-five emergency physicians participated in the study: 17 residents, 2 pediatric emergency medicine fellows, and 6 attending physicians. Reported median time, as well as minimum and maximum times to complete each splinting technique for an avulsed tooth, was as follows: periodontal pack 4.4 minutes (2.5 to 6.5 minutes), wire 8.6 minutes (5.8 to 12.9 minutes), and bondable reinforcement ribbon 8.9 minutes (5.6 to 15 minutes). Median time (and minimum and maximum times) to complete each protective bandaging technique for a fractured tooth was calcium hydroxide paste 4.6 minutes (3 to 9.6 minutes) and light-cured composite 7.1 minutes (5.5 to 14.1 minutes). When asked to choose a preferred splinting and bandaging technique according to the performance of the physicians, the dentists chose the bondable reinforcement ribbon 96% (24/25) and the light-cured composite 100% (25/25) of the time. Study participants had no measurable or agreeable preference for a particular splinting
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....
Kim, Youngjae; Hahn, Minsoo
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 ...
Kozarovska, A; Larsson, C
To describe the implementation of a digital tool for preparation validation and evaluate it as an aid in students' self-assessment. Students at the final semester of skills laboratory training were asked to use a digital preparation validation tool (PVT) when performing two different tasks; preparation of crowns for teeth 11 and 21. The students were divided into two groups. Group A self-assessed and scanned all three attempts at 21 ("prep-and-scan"). Group B self-assessed all attempts chose the best one and scanned it ("best-of-three"). The situation was reversed for 11. The students assessed five parameters of the preparation and marked them as approved (A) or failed (F). These marks were compared with the information from the PVT. The students also completed a questionnaire. Each question was rated from 1 to 5. Teachers' opinions were collected at staff meetings throughout the project. Most students in the "prep-and-scan" groups showed an increase in agreement between their self-assessment and the information from the PVT, whereas students in the "best-of-three" groups showed lower levels of agreement. All students rated the PVT positively. Most strongly agreed that the tool was helpful in developing skills (mean 4.15), easy to use (mean 4.23) and that it added benefits in comparison to existing assessment tools (mean 4.05). They did not however, fully agree that the tool is time efficient (mean 2.55), and they did not consider it a substitute for verbal teacher feedback. Teachers' feedback suggested advantages of the tool in the form of ease of use, visual aid and increasing interest and motivation during skills laboratory training however, they did not notice a reduction in need of verbal feedback. Within the limitations of the study, our conclusion is that a digital PVT may be a valuable adjunct to other assessment tools in skills laboratory training. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
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.
Ottensmeyer, M P; Ben-Ur, E; Salisbury, J K
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
Nash, David A; Friedman, Jay W; Kardos, Thomas B; Kardos, Rosemary L; Schwarz, Eli; Satur, Julie; Berg, Darren G; Nasruddin, Jaafar; Mumghamba, Elifuraha G; Davenport, Elizabeth S; Nagel, Ron
In 1921, New Zealand began training school dental nurses, subsequently deploying them throughout the country in school-based clinics providing basic dental care for children. The concept of training dental nurses, later to be designated dental therapists, was adopted by other countries as a means of improving access to care, particularly for children. This paper profiles six countries that utilise dental therapists, with a description of the training that therapists receive in these countries, and the context in which they practice. Based on available demographic information, it also updates the number of dental therapists practising globally, as well as the countries in which they practice. In several countries, dental therapy is now being integrated with dental hygiene in training and practice to create a new type of professional complementary to a dentist. Increasingly, dental therapists are permitted to treat adults as well as children. The paper also describes the status of a current initiative to introduce dental therapy to the United States. It concludes by suggesting that dental therapists can become valued members of the dental team throughout the world, helping to improve access to care and reducing existing disparities in oral health.
Full Text Available This study analyses how changes in the design of screen-based computer simulation training influence the collaborative training process. Specifically, this study examine how the size of a group and a group’s composition influence the way these tools are used. One case study consisted of 18+18 dental students randomized into either collaborative 3D simulation training or conventional collaborative training. The students worked in groups of three. The other case consisted of 12 nursing students working in pairs (partners determined by the students with a 3D simulator. The results showed that simulation training encouraged different types of dialogue compared to conventional training and that the communication patterns were enhanced in the nursing students ́ dyadic simulation training. The concrete changes concerning group size and the composition of the group influenced the nursing students’ engagement with the learning environment and consequently the communication patterns that emerged. These findings suggest that smaller groups will probably be more efficient than larger groups in a free collaboration setting that uses screen-based simulation training.
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
Full Text Available Purpose: The aim was to understand dental students’ experiences with oral and maxillofacial surgery (OMS teaching, their confidence levels in performing routine dento-alveolar operations, and the relationship between the students’ confidence level and the number of teeth extracted during the clinical practice. Methods: The survey questionnaire was distributed to 32 students at Aljouf University College of Dentistry, Saudi Arabia during their fourth and fifth year in 2015. Respondents were asked to rate 19 items, which represent a student’s confidence in performing routine surgical interventions, using a four-point Likert scale (1=very little confidence, 4=very confident. A multivariate regression was computed between average confidence and the variables: weekly hours devoted to studying oral and maxillofacial surgery, college grade point average, and the total number of teeth extracted. Results: The response rate was 100%. Students revealed the highest level of confidence in giving local anesthesia (96.9%, understanding extraction indications (93.8%, and performing simple extractions (90.6%. Less confidence was shown with handling difficult extractions (50.0%, extracting molars with separation (50.0% or extracting third molars (56.3%. The average confidence in performing surgical procedures was 2.88 (SD=0.55, ranging from 1.79 to 3.89. A given student’s confidence increased with an increase in the total number of teeth extracted (P=0.003. Conclusion: It reveals a significant impact of undergraduate clinical training on students’ confidence in performing oral and maxillofacial surgery clinical procedures: The more clinical experience the students had, the more confidence they reported.
Orellana, Lorena M; Martínez-Sanchis, Sonia; Silvestre, Francisco J
The specific neuropsychological and sensory profile found in persons with autism spectrum disorders complicate dental procedures and as a result of this, most are treated under general anesthesia or unnecessary sedation. The main goal of the present study was to evaluate the effectiveness of a short treatment and education of autistic and related communication-handicapped children-based intervention program (five sessions) to facilitate a 10-component oral assessment in children (n = 38, aged 4-9 years) and adults (n = 34, aged 19-41) with autism spectrum disorder (with or without associated intellectual disability). The assessment ranges from entering into the examination room to the evaluation of the dental occlusion. There were statistically significant differences in the number of components reached and in compliance before and after the training program.
Woo, Hyun Soo; Kim, Woo Seok; Ahn, Woojin; Lee, Doo Yong; Yi, Sun Young
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.
Edmondson, Richard; Light, Kenneth; Bodenhamer, Andrew; Bosscher, Paul; Wilkinson, Loren
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.
Lu, Keke; Liu, Guanyang; Liu, Lingzhi
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.
Kayla Dawn Stone
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.
Xu, Zhaohong; Song, Chengli; Wu, Wenwu
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.
Turchet, Luca; Burelli, Paolo; Serafin, Stefania
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...
Bloomfield, Aaron; Deng, Yu; Wampler, Jeff; Rondot, Pascale; Harth, Dina; McManus, Mary; Badler, Norman
.... 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...
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; *posx="x" *forf="f’ *velv="v" * acca ="a" trial; resp; /* random number */ /* trial number */ /* index */ /* array holding stim
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.
Kannan Megalingam, Rajesh; Sreekanth, M. M.; Sivanantham, Vinu; Sai Kumar, K.; Ghanta, Sriharsha; Surya Teja, P.; Reddy, Rajesh G.
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.
Heck, D.J.F.; Heemskerk, C.J.M.; Koning, J.F.; Abbasi, A.; Nijmeijer, H.
Highlights: • ITER remote handling maintenance can be controlled safely over a large distance. • Bilateral teleoperation experiments were performed in a local network. • Wave variables make the controller robust against constant communication delays. • Master and slave position synchronization guaranteed by proportional action. -- Abstract: During shutdowns, maintenance crews are expected to work in 24/6 shifts to perform critical remote handling maintenance tasks on the ITER system. In this article, we investigate the possibility to safely perform these haptic maintenance tasks remotely from control stations located anywhere around the world. To guarantee stability in time delayed bilateral teleoperation, the symmetric position tracking controller using wave variables is selected. This algorithm guarantees robustness against communication delays, can eliminate wave reflections and provide position synchronization of the master and slave devices. Experiments have been conducted under realistic local network bandwidth, latency and jitter constraints. They show sufficient transparency even for substantial communication delays
Heck, D.J.F., E-mail: email@example.com [Eindhoven University of Technology, Department of Mechanical Engineering, Eindhoven (Netherlands); Heemskerk, C.J.M.; Koning, J.F. [Heemskerk Innovative Technologies, Sassenheim (Netherlands); Abbasi, A.; Nijmeijer, H. [Eindhoven University of Technology, Department of Mechanical Engineering, Eindhoven (Netherlands)
Highlights: • ITER remote handling maintenance can be controlled safely over a large distance. • Bilateral teleoperation experiments were performed in a local network. • Wave variables make the controller robust against constant communication delays. • Master and slave position synchronization guaranteed by proportional action. -- Abstract: During shutdowns, maintenance crews are expected to work in 24/6 shifts to perform critical remote handling maintenance tasks on the ITER system. In this article, we investigate the possibility to safely perform these haptic maintenance tasks remotely from control stations located anywhere around the world. To guarantee stability in time delayed bilateral teleoperation, the symmetric position tracking controller using wave variables is selected. This algorithm guarantees robustness against communication delays, can eliminate wave reflections and provide position synchronization of the master and slave devices. Experiments have been conducted under realistic local network bandwidth, latency and jitter constraints. They show sufficient transparency even for substantial communication delays.
Joan Emien Enabulele
Conclusion: The dental assistants in this study appear to have a fair knowledge of endodontic instrument sterilization; however, they need to expand their scope of practice beyond what is available for use.
Jun 21, 2015 ... the presence of dental pulp stone, gender, age, tooth type and arches. Results: Dental pulp ... primary and permanent dentition. Dental pulp stones .... interpretation provided training to familiarize the other observer with the ...
Quinn, Frank; Keogh, Paul; McDonald, Ailbhe; Hussey, David
The use of virtual reality (VR) in the training of operative dentistry is a recent innovation and little research has been published on its efficacy compared to conventional training methods. To evaluate possible benefits, junior undergraduate dental students were randomly assigned to one of three groups: group 1 as taught by conventional means only; group 2 as trained by conventional means combined with VR repetition and reinforcement (with access to a human instructor for operative advice); and group 3 as trained by conventional means combined with VR repetition and reinforcement, but without instructor evaluation/advice, which was only supplied via the VR-associated software. At the end of the research period, all groups executed two class 1 preparations that were evaluated blindly by 'expert' trainers, under traditional criteria (outline, retention, smoothness, depth, wall angulation and cavity margin index). Analyses of resulting scores indicated a lack of significant differences between the three groups except for scores for the category of 'outline form', for group 2, which produced significantly lower (i.e. better) scores than the conventionally trained group. A statistical comparison between scores from two 'expert' examiners indicated lack of agreement, despite identical written and visual criteria being used for evaluation by both. Both examiners, however, generally showed similar trends in evaluation. An anonymous questionnaire suggested that students recognized the benefits of VR training (e.g. ready access to assessment, error identification and how they can be corrected), but the majority felt that it would not replace conventional training methods (95%), although participants recognized the potential for development of VR systems in dentistry. The most common reasons cited for the preference of conventional training were excessive critical feedback (55%), lack of personal contact (50%) and technical hardware difficulties (20%) associated with VR
Kim, Mingyu; Jeon, Changyu; Kim, Jinmo
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...
Full Text Available Abstract Background Research programs within medical and dental schools are important vehicles for biomedical and clinical discovery, serving as effective teaching and learning tools by providing situations in which predoctoral students develop problem-solving and critical-thinking skills. Although research programs at many medical and dental schools are well-established, they may not be well integrated into the predoctoral curriculum to effectively support the learning objectives for their students. Methods A series of structured seminars, incorporating faculty research, was designed for first-year dental students at the University of Nevada, Las Vegas, School of Dental Medicine to reinforce and support the concepts and skills taught in concurrent courses. A structured research enrichment period was also created to facilitate student engagement in active research using faculty and student curricular release time. Course evaluations and surveys were administered to gauge student perceptions of the curricular integration of research, the impact of these seminars on recruitment to the research program, and overall levels of student satisfaction with research enrichment. Results The analysis of course surveys revealed that students perceived the research-containing seminars effectively illustrated concepts, were logically sequenced, and were well-integrated into their curriculum. In addition, analysis of surveys revealed that the Integration Seminar courses motivated students to engage in research enrichment. Finally, this analysis provided evidence that students were very satisfied with their overall learning experience during research enrichment. Conclusion Curricular integration is one method of improving the teaching and learning of complicated and inter-related concepts, providing an opportunity to incorporate research training and objectives into traditionally separate didactic courses. Despite the benefits of curricular integration, finding
Kingsley, Karl; O'Malley, Susan; Stewart, Tanis; Howard, Katherine M
Research programs within medical and dental schools are important vehicles for biomedical and clinical discovery, serving as effective teaching and learning tools by providing situations in which predoctoral students develop problem-solving and critical-thinking skills. Although research programs at many medical and dental schools are well-established, they may not be well integrated into the predoctoral curriculum to effectively support the learning objectives for their students. A series of structured seminars, incorporating faculty research, was designed for first-year dental students at the University of Nevada, Las Vegas, School of Dental Medicine to reinforce and support the concepts and skills taught in concurrent courses. A structured research enrichment period was also created to facilitate student engagement in active research using faculty and student curricular release time. Course evaluations and surveys were administered to gauge student perceptions of the curricular integration of research, the impact of these seminars on recruitment to the research program, and overall levels of student satisfaction with research enrichment. The analysis of course surveys revealed that students perceived the research-containing seminars effectively illustrated concepts, were logically sequenced, and were well-integrated into their curriculum. In addition, analysis of surveys revealed that the Integration Seminar courses motivated students to engage in research enrichment. Finally, this analysis provided evidence that students were very satisfied with their overall learning experience during research enrichment. Curricular integration is one method of improving the teaching and learning of complicated and inter-related concepts, providing an opportunity to incorporate research training and objectives into traditionally separate didactic courses. Despite the benefits of curricular integration, finding the most appropriate points of integration, obtaining release time
Arevalo, Carolina R; Bayne, Stephen C; Beeley, Josie A; Brayshaw, Christine J; Cox, Margaret J; Donaldson, Nora H; Elson, Bruce S; Grayden, Sharon K; Hatzipanagos, Stylianos; Johnson, Lynn A; Reynolds, Patricia A; Schönwetter, Dieter J
The framework presented in this article demonstrates strategies for a global approach to e-curricula in dental education by considering a collection of outcome assessment tools. By combining the outcomes for overall assessment, a global model for a pilot project that applies e-assessment tools to virtual learning environments (VLE), including haptics, is presented. Assessment strategies from two projects, HapTEL (Haptics in Technology Enhanced Learning) and UDENTE (Universal Dental E-learning), act as case-user studies that have helped develop the proposed global framework. They incorporate additional assessment tools and include evaluations from questionnaires and stakeholders' focus groups. These measure each of the factors affecting the classical teaching/learning theory framework as defined by Entwistle in a standardized manner. A mathematical combinatorial approach is proposed to join these results together as a global assessment. With the use of haptic-based simulation learning, exercises for tooth preparation assessing enamel and dentine were compared to plastic teeth in manikins. Equivalence for student performance for haptic versus traditional preparation methods was established, thus establishing the validity of the haptic solution for performing these exercises. Further data collected from HapTEL are still being analyzed, and pilots are being conducted to validate the proposed test measures. Initial results have been encouraging, but clearly the need persists to develop additional e-assessment methods for new learning domains.
Manny, Edward F.; And Others
This overview of dental radiology contains sections on demographics, equipment, dental radiology quality assurance, efficacy, dental radiology education curricula, professional organizations' guidelines for training and use, and state activities. In section 1 dental personnel, population of dental personnel, employment and earning prospects,…
Gorlewicz, Jenna L.; Kratchman, Louis B.; Webster, Robert J., III
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…
Lemole, G Michael; Banerjee, P Pat; Luciano, Cristian; Neckrysh, Sergey; Charbel, Fady T
Mastery of the neurosurgical skill set involves many hours of supervised intraoperative training. Convergence of political, economic, and social forces has limited neurosurgical resident operative exposure. There is need to develop realistic neurosurgical simulations that reproduce the operative experience, unrestricted by time and patient safety constraints. Computer-based, virtual reality platforms offer just such a possibility. The combination of virtual reality with dynamic, three-dimensional stereoscopic visualization, and haptic feedback technologies makes realistic procedural simulation possible. Most neurosurgical procedures can be conceptualized and segmented into critical task components, which can be simulated independently or in conjunction with other modules to recreate the experience of a complex neurosurgical procedure. We use the ImmersiveTouch (ImmersiveTouch, Inc., Chicago, IL) virtual reality platform, developed at the University of Illinois at Chicago, to simulate the task of ventriculostomy catheter placement as a proof-of-concept. Computed tomographic data are used to create a virtual anatomic volume. Haptic feedback offers simulated resistance and relaxation with passage of a virtual three-dimensional ventriculostomy catheter through the brain parenchyma into the ventricle. A dynamic three-dimensional graphical interface renders changing visual perspective as the user's head moves. The simulation platform was found to have realistic visual, tactile, and handling characteristics, as assessed by neurosurgical faculty, residents, and medical students. We have developed a realistic, haptics-based virtual reality simulator for neurosurgical education. Our first module recreates a critical component of the ventriculostomy placement task. This approach to task simulation can be assembled in a modular manner to reproduce entire neurosurgical procedures.
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.
Full Text Available Introduction: Healthcare workers, in general, are susceptible to contracting with infectious diseases. Thus, appropriate infection control practices are of prime importance in academic institutions, wherein under-graduate students form a major part of the oral healthcare team right from the 3rd year of the curriculum. This fact underlines the need to provide extensive training to prevent healthcare-related infections to the patient and themselves. Aim: To assess the effectiveness of training related to infection control and waste management practices among under-graduate students in a private dental institution. Materials and Methods: The present study conducted among 3rd year under-graduate dental students in Pune, 2015 assessed their knowledge, attitude, and practices related to infection control and waste management followed by an intervention in the form of training. A quasi-experimental design (before and after comparison was employed. Complete enumeration was performed. Results: Out of the 88 students, 46 (52.27% had good knowledge at baseline, which improved to 72 (81.81% after the training; 80 (90.90% had good attitude, which improved to 88 (100%; and 67 (76.13% had good practice, which improved to 88 (100%. At the baseline, the results showed that the mean knowledge score was 3.45 ± 1.03, the mean attitude score was 2.90 ± 0.28, and the mean practice score was 7.3 ± 0.76. After the training, the results showed that the mean knowledge score was 4.5 ± 0.25, the mean attitude score was 3, and the mean practice score was 8.1 ± 0.5. Conclusion: The training was effective in improving the over-all score of the participants related to the knowledge, attitude, and practice regarding infection control and waste management. Thus, we propose to train the students on various aspects of infection control and waste management and introduce an on-going training program in the curriculum.
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.
Mullins, James; Fielding, Mick; Nahavandi, Saeid
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.
Conclusions: The shade-matching ability of dental students seemed to improve with more education because of the inclusion of clinical practice in the educational program. However, gender, eye color, and the use of eye glasses or contact lenses had no influence.
EMG studies). Data Management and Analysis Descriptive statistics for subject demographics and nerve conduction study variables were calculated using...military N/A Family history of CTS; previous work history as electrician, guitar player 49 (R) None N/A Dental assistant; waiter NCS indicates
Salisbury, C M; Gillespie, R B; Tan, H Z; Barbagli, F; Salisbury, J K
In this paper, we extend the concept of the contrast sensitivity function - used to evaluate video projectors - to the evaluation of haptic devices. We propose using human observers to determine if vibrations rendered using a given haptic device are accompanied by artifacts detectable to humans. This determination produces a performance measure that carries particular relevance to applications involving texture rendering. For cases in which a device produces detectable artifacts, we have developed a protocol that localizes deficiencies in device design and/or hardware implementation. In this paper, we present results from human vibration detection experiments carried out using three commercial haptic devices and one high performance voice coil motor. We found that all three commercial devices produced perceptible artifacts when rendering vibrations near human detection thresholds. Our protocol allowed us to pinpoint the deficiencies, however, and we were able to show that minor modifications to the haptic hardware were sufficient to make these devices well suited for rendering vibrations, and by extension, the vibratory components of textures. We generalize our findings to provide quantitative design guidelines that ensure the ability of haptic devices to proficiently render the vibratory components of textures.
Villard, Caroline; Soler, Luc; Gangi, Afshin
For radiofrequency ablation (RFA) of liver tumors, evaluation of vascular architecture, post-RFA necrosis prediction, and the choice of a suitable needle placement strategy using conventional radiological techniques remain difficult. In an attempt to enhance the safety of RFA, a 3D simulator, treatment planning, and training tool, that simulates the insertion of the needle, the necrosis of the treated area, and proposes an optimal needle placement, has been developed. The 3D scenes are automatically reconstructed from enhanced spiral CT scans. The simulator takes into account the cooling effect of local vessels greater than 3 mm in diameter, making necrosis shapes more realistic. Optimal needle positioning can be automatically generated by the software to produce complete destruction of the tumor, with maximum respect of the healthy liver and of all major structures to avoid. We also studied how the use of virtual reality and haptic devices are valuable to make simulation and training realistic and effective.
Sornkarn, Nantachai; Nanayakkara, Thrishantha
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.
Kassuba, Tanja; Klinge, Corinna; Hölig, Cordula
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...
Turchet, Luca; Serafin, Stefania; Dimitrov, Smilen
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....
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)
Chie Takahashi; Simon J Watt
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 ...
Williams, Camille K.; Tseung, Victrine; Carnahan, Heather
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
Kim, Pyunghwa; Kim, Soomin; Park, Young-Dai; Choi, Seung-Bok
This study proposes a new model to predict the reaction force that occurs in incisions during robot-assisted minimally invasive surgery. The reaction force is fed back to the manipulator by a magneto-rheological fluid (MRF) haptic master, which is featured by a bi-directional clutch actuator. The reaction force feedback provides similar sensations to laparotomy that cannot be provided by a conventional master for surgery. This advantage shortens the training period for robot-assisted minimally invasive surgery and can improve the accuracy of operations. The reaction force modeling of incisions can be utilized in a surgical simulator that provides a virtual reaction force. In this work, in order to model the reaction force during incisions, the energy aspect of the incision process is adopted and analyzed. Each mode of the incision process is classified by the tendency of the energy change, and modeled for realistic real-time application. The reaction force model uses actual reaction force information with three types of actual tissues: hard tissue, medium tissue, and soft tissue. This modeled force is realized by the MRF haptic master through an algorithm based on the position and velocity of a scalpel using two different control methods: an open-loop algorithm and a closed-loop algorithm. The reaction forces obtained from the proposed model are compared with a desired force in time domain.
Kim, Pyunghwa; Kim, Soomin; Park, Young-Dai; Choi, Seung-Bok
This study proposes a new model to predict the reaction force that occurs in incisions during robot-assisted minimally invasive surgery. The reaction force is fed back to the manipulator by a magneto-rheological fluid (MRF) haptic master, which is featured by a bi-directional clutch actuator. The reaction force feedback provides similar sensations to laparotomy that cannot be provided by a conventional master for surgery. This advantage shortens the training period for robot-assisted minimally invasive surgery and can improve the accuracy of operations. The reaction force modeling of incisions can be utilized in a surgical simulator that provides a virtual reaction force. In this work, in order to model the reaction force during incisions, the energy aspect of the incision process is adopted and analyzed. Each mode of the incision process is classified by the tendency of the energy change, and modeled for realistic real-time application. The reaction force model uses actual reaction force information with three types of actual tissues: hard tissue, medium tissue, and soft tissue. This modeled force is realized by the MRF haptic master through an algorithm based on the position and velocity of a scalpel using two different control methods: an open-loop algorithm and a closed-loop algorithm. The reaction forces obtained from the proposed model are compared with a desired force in time domain. (paper)
Kjellerup, Marie Kjær; Larsen, Anne Cathrine; Maier, Anja
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...
Juan Manuel Ibarra-Zannatha
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.
Fenz, Wolfgang; Dirnberger, Johannes
Providing suitable training for aspiring neurosurgeons is becoming more and more problematic. The increasing popularity of the endovascular treatment of intracranial aneurysms leads to a lack of simple surgical situations for clipping operations, leaving mainly the complex cases, which present even experienced surgeons with a challenge. To alleviate this situation, we have developed a training simulator with haptic interaction allowing trainees to practice virtual clipping surgeries on real patient-specific vessel geometries. By using specialized finite element (FEM) algorithms (fast finite element method, matrix condensation) combined with GPU acceleration, we can achieve the necessary frame rate for smooth real-time interaction with the detailed models needed for a realistic simulation of the vessel wall deformation caused by the clamping with surgical clips. Vessel wall geometries for typical training scenarios were obtained from 3D-reconstructed medical image data, while for the instruments (clipping forceps, various types of clips, suction tubes) we use models provided by manufacturer Aesculap AG. Collisions between vessel and instruments have to be continuously detected and transformed into corresponding boundary conditions and feedback forces, calculated using a contact plane method. After a training, the achieved result can be assessed based on various criteria, including a simulation of the residual blood flow into the aneurysm. Rigid models of the surgical access and surrounding brain tissue, plus coupling a real forceps to the haptic input device further increase the realism of the simulation.
Fortmeier, Dirk; Mastmeyer, Andre; Schröder, Julian; Handels, Heinz
This study presents a new visuo-haptic virtual reality (VR) training and planning system for percutaneous transhepatic cholangio-drainage (PTCD) based on partially segmented virtual patient models. We only use partially segmented image data instead of a full segmentation and circumvent the necessity of surface or volume mesh models. Haptic interaction with the virtual patient during virtual palpation, ultrasound probing and needle insertion is provided. Furthermore, the VR simulator includes X-ray and ultrasound simulation for image-guided training. The visualization techniques are GPU-accelerated by implementation in Cuda and include real-time volume deformations computed on the grid of the image data. Computation on the image grid enables straightforward integration of the deformed image data into the visualization components. To provide shorter rendering times, the performance of the volume deformation algorithm is improved by a multigrid approach. To evaluate the VR training system, a user evaluation has been performed and deformation algorithms are analyzed in terms of convergence speed with respect to a fully converged solution. The user evaluation shows positive results with increased user confidence after a training session. It is shown that using partially segmented patient data and direct volume rendering is suitable for the simulation of needle insertion procedures such as PTCD.
Kirton, J A; Palmer, N O A; Grieveson, B; Balmer, M C
A questionnaire study was undertaken with trainers and trainees from 12 deaneries in England and Northern Ireland in June 2010 to evaluate workplace-based assessments (WPBAs) in foundation training. From the sample consisting of 741 trainers and 643 foundation trainees, experience of WPBAs was positive overall, playing an important role in trainees' learning during foundation training and building confidence. However, there is a need for comprehensive training in the WPBA tools used to ensure their efficacy.
Full Text Available Disabilities after neural injury, such as stroke, bring tremendous burden to patients, families and society. Besides the conventional constrained-induced training with a paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fitting well with the fact that both arms are needed in common activities of daily living (ADLs, and can promote good functional recovery. In this work, the fusion of a gesture sensor and a haptic sensor with force feedback capabilities has enabled a bilateral rehabilitation training therapy. The Leap Motion gesture sensor detects the motion of the healthy hand, and the omega.7 device can detect and assist the paretic hand, according to the designed cooperative task paradigm, as much as needed, with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data facilitate instantaneous visual and audio feedback, as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm recruits the sensory, motor and cognitive aspects of the patient into one loop, encourages the active involvement of the patients into rehabilitation training, strengthens the cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy of use at home or centralized institutions and, thus, promises effective potentials for rehabilitation training.
Yu, Ningbo; Xu, Chang; Li, Huanshuai; Wang, Kui; Wang, Liancheng; Liu, Jingtai
Disabilities after neural injury, such as stroke, bring tremendous burden to patients, families and society. Besides the conventional constrained-induced training with a paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fitting well with the fact that both arms are needed in common activities of daily living (ADLs), and can promote good functional recovery. In this work, the fusion of a gesture sensor and a haptic sensor with force feedback capabilities has enabled a bilateral rehabilitation training therapy. The Leap Motion gesture sensor detects the motion of the healthy hand, and the omega.7 device can detect and assist the paretic hand, according to the designed cooperative task paradigm, as much as needed, with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data facilitate instantaneous visual and audio feedback, as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm recruits the sensory, motor and cognitive aspects of the patient into one loop, encourages the active involvement of the patients into rehabilitation training, strengthens the cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy of use at home or centralized institutions and, thus, promises effective potentials for rehabilitation training.
Overvliet, K.E.; Plaisier, M.A.
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
Turchet, Luca; Burelli, Paolo; Serafin, Stefania
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.
Plaisier, Myrthe A; Bergmann Tiest, Wouter M.; Kappers, Astrid M L
Shape is an important cue for recognizing an object by touch. Several features, such as edges, curvature, surface area, and aspect ratio, are associated with 3-D shape. To investigate the saliency of 3-D shape features, we developed a haptic search task. The target and distractor items consisted of
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
Garcia Canseco, E.; Ayemlong Fokem, A.; Serrarens, A.F.A.; Steinbuch, M.; Stigter, H.
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.
Sinclair, I.; Carter, J.; Kassner, S.; Erp, J.B.F. van; Weber, G.; Elliott, L.; Andrew, I.
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
Smisek, J.; Mugge, W.; Smeets, J.B.J.; Van Paassen, M.M.; Schiele, A
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
Gorn, R A; Steinert, R F
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.
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…
Kassuba, Tanja; Menz, Mareike M; R�der, Brigitte
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...
Jakesch, Martina; Carbon, Claus-Christian
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.
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.
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.
Apfel, Maura; Weaver, Trudy Karlene
This manual is part of a series dealing with skills and information needed by students in dental assisting. The individualized student materials are suitable for classroom, laboratory, or cooperative training programs. This student manual contains four units covering the following topics: local anesthesia; dental office emergencies; oral hygiene;…
study of dental technology students of Federal School of Dental Therapy and Technology. Enugu, Nigeria ... HIV-infected individuals is also known to be achieved through the provision of ... to care for HIV-infected patients among this group of dental professionals ..... Table 7: Willingness to care versus training needs on care.
Hedayat, Isabel; Moraes, Renato; Lanovaz, Joel L; Oates, Alison R
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.
Shoffstall-Cone, Sarah; Williard, Mary
In 1999, An Oral Health Survey of American Indian and Alaska Native (AI/AN) Dental Patients found that 79% of 2- to 5-year-olds had a history of tooth decay. The Alaska Native Tribal Health Consortium in collaboration with Alaska's Tribal Health Organizations (THO) developed a new and diverse dental workforce model to address AI/AN oral health disparities. This paper describes the workforce model and some experience to date of the Dental Health Aide (DHA) Initiative that was introduced under the federally sanctioned Community Health Aide Program in Alaska. These new dental team members work with THO dentists and hygienists to provide education, prevention and basic restorative services in a culturally appropriate manner. The DHA Initiative introduced 4 new dental provider types to Alaska: the Primary Dental Health Aide, the Expanded Function Dental Health Aide, the Dental Health Aide Hygienist and the Dental Health Aide Therapist. The scope of practice between the 4 different DHA providers varies vastly along with the required training and education requirements. DHAs are certified, not licensed, providers. Recertification occurs every 2 years and requires the completion of 24 hours of continuing education and continual competency evaluation. Dental Health Aides provide evidence-based prevention programs and dental care that improve access to oral health care and help address well-documented oral health disparities.
Full Text Available Background. In 1999, An Oral Health Survey of American Indian and Alaska Native (AI/AN Dental Patients found that 79% of 2- to 5-year-olds had a history of tooth decay. The Alaska Native Tribal Health Consortium in collaboration with Alaska’s Tribal Health Organizations (THO developed a new and diverse dental workforce model to address AI/AN oral health disparities. Objectives. This paper describes the workforce model and some experience to date of the Dental Health Aide (DHA Initiative that was introduced under the federally sanctioned Community Health Aide Program in Alaska. These new dental team members work with THO dentists and hygienists to provide education, prevention and basic restorative services in a culturally appropriate manner. Results. The DHA Initiative introduced 4 new dental provider types to Alaska: the Primary Dental Health Aide, the Expanded Function Dental Health Aide, the Dental Health Aide Hygienist and the Dental Health Aide Therapist. The scope of practice between the 4 different DHA providers varies vastly along with the required training and education requirements. DHAs are certified, not licensed, providers. Recertification occurs every 2 years and requires the completion of 24 hours of continuing education and continual competency evaluation. Conclusions. Dental Health Aides provide evidence-based prevention programs and dental care that improve access to oral health care and help address well-documented oral health disparities.
Invitto, Sara; Faggiano, Chiara; Sammarco, Silvia; De Luca, Valerio; De Paolis, Lucio T
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.
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.
Invitto, Sara; Faggiano, Chiara; Sammarco, Silvia; De Luca, Valerio; De Paolis, Lucio T.
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
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.
Wilson, M H
Serious medical emergencies are fortunately a rare occurrence in the dental practice environment; however, if an emergency situation is encountered a delay in treatment may result in potentially avoidable consequences. The risk of mortality or serious morbidity can be reduced by ensuring that basic emergency equipment and medications are in place, and that the dental team is appropriately trained in basic life support measures. This article aims to provide an overview of the basic emergency medications and equipment that should be present in dental practices, and to discuss specific responses to some of the more common adverse medical events that can present while providing dental treatment.
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...
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 ...
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.
Overholt, Daniel; Kontogeorgakopoulos, Alexandros; Berdahl, Edgar
The Haptic Signal Processing (HSP) platform aims to enable musicians to easily design and perform with digital haptic musical instruments . 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....
Boer, Laurens; Vallgårda, Anna; Cahill, Ben
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...
Full Text Available Spinal cord injury (SCI is a disabling condition resulting in deficits of sensory and motor functions, and has no effective treatment. Considering that protocols with stem cell transplantation and treadmill training have shown promising results, the present study evaluated the effectiveness of stem cells from human exfoliated deciduous teeth (SHEDs transplantation combined with treadmill training in rats with experimental spinal cord injury. Fifty-four Wistar rats were spinalized using NYU impactor. The rats were randomly distributed into 5 groups: Sham (laminectomy with no SCI, n=10; SCI (laminectomy followed by SCI, n=12; SHEDs (SCI treated with SHEDs, n=11; TT (SCI treated with treadmill training, n=11; SHEDs+TT (SCI treated with SHEDs and treadmill training; n=10. Treatment with SHEDs alone or in combination with treadmill training promoted functional recovery, reaching scores of 15 and 14, respectively, in the BBB scale, being different from the SCI group, which reached 11. SHEDs treatment was able to reduce the cystic cavity area and glial scar, increase neurofilament. Treadmill training alone had no functional effectiveness or tissue effects. In a second experiment, the SHEDs transplantation reduced the TNF-α levels in the cord tissue measured 6 h after the injury. Contrary to our hypothesis, treadmill training either alone or in combination, caused no functional improvement. However, SHEDs showed to be neuroprotective, by the reduction of TNF-α levels, the cystic cavity and the glial scar associated with the improvement of motor function after SCI. These results provide evidence that grafted SHEDs might be an effective therapy to spinal cord lesions, with possible anti-inflammatory action.
Nicola, F C; Rodrigues, L P; Crestani, T; Quintiliano, K; Sanches, E F; Willborn, S; Aristimunha, D; Boisserand, L; Pranke, P; Netto, C A
Spinal cord injury (SCI) is a disabling condition resulting in deficits of sensory and motor functions, and has no effective treatment. Considering that protocols with stem cell transplantation and treadmill training have shown promising results, the present study evaluated the effectiveness of stem cells from human exfoliated deciduous teeth (SHEDs) transplantation combined with treadmill training in rats with experimental spinal cord injury. Fifty-four Wistar rats were spinalized using NYU impactor. The rats were randomly distributed into 5 groups: Sham (laminectomy with no SCI, n=10); SCI (laminectomy followed by SCI, n=12); SHEDs (SCI treated with SHEDs, n=11); TT (SCI treated with treadmill training, n=11); SHEDs+TT (SCI treated with SHEDs and treadmill training; n=10). Treatment with SHEDs alone or in combination with treadmill training promoted functional recovery, reaching scores of 15 and 14, respectively, in the BBB scale, being different from the SCI group, which reached 11. SHEDs treatment was able to reduce the cystic cavity area and glial scar, increase neurofilament. Treadmill training alone had no functional effectiveness or tissue effects. In a second experiment, the SHEDs transplantation reduced the TNF-α levels in the cord tissue measured 6 h after the injury. Contrary to our hypothesis, treadmill training either alone or in combination, caused no functional improvement. However, SHEDs showed to be neuroprotective, by the reduction of TNF-α levels, the cystic cavity and the glial scar associated with the improvement of motor function after SCI. These results provide evidence that grafted SHEDs might be an effective therapy to spinal cord lesions, with possible anti-inflammatory action.
... and Medical Procedures Dental Devices Dental Amalgam About Dental Amalgam Fillings Share Tweet Linkedin Pin it More ... should I have my fillings removed? What is dental amalgam? Dental amalgam is a dental filling material ...
... this page: //medlineplus.gov/ency/patientinstructions/000779.htm Dental sealants To use the sharing features on this ... case a sealant needs to be replaced. How Dental Sealants are Applied Your dentist applies sealants on ...
Full Text Available Perception of compliant objects demands integration of haptic and visual position information with force information. Multisensory interactions are ubiquitous in perception, even at early processing stages, and thus can potentially play a role in learning. In this study we explored humans' improvement on uni-sensory stiffness discrimination as a function of different sensory conditions and immediate knowledge of results (KR during training. Two by two design was used: subjects were trained over two days on stiffness discrimination task with either matched visual-tactile, or tactile only stimuli and either with or without immediate feedback on their performance during training trials. Training resulted in both immediate but also latent, overnight learning in the proportion of correctly discriminated pairs of targets (PC, in all groups. Discrimination decision time (DT gains were obtained only during practice, while between sessions partial deterioration was evident. Affordance of visual information during training blocks resulted in higher PC during training blocks, but lower PC in the haptic-only retests. This finding challenges the notion that long-term unisensory learning mechanisms operate optimally under multisensory training conditions, at least for the combination of the visual and haptic modalities. We didn’t find evidence that information feedback during training enhances discrimination ability in terms of PC. However, we found transient within-session effects of KR and visual-haptic trainings on DT: while visualhaptic training resulted in slower responses, KR training induced faster responses.
Wang, Jiabin; Zhao, Lu; Liu, Yue; Wang, Yongtian; Cai, Yi
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.
Kassuba, Tanja; Klinge, Corinna; Hölig, Cordula
, 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...
Cattaneo, Zaira; Lega, Carlotta; Vecchi, Tomaso; Vallar, Giuseppe
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.
Partido, Brian B; Jones, Archie A; English, Dana L; Nguyen, Carol A; Jacks, Mary E
Dental and dental hygiene faculty members often do not provide consistent instruction in the clinical environment, especially in tasks requiring clinical judgment. From previous efforts to calibrate faculty members in calculus detection using typodonts, researchers have suggested using human subjects and emerging technology to improve consistency in clinical instruction. The purpose of this pilot study was to determine if a dental endoscopy-assisted training program would improve intra- and interrater reliability of dental hygiene faculty members in calculus detection. Training included an ODU 11/12 explorer, typodonts, and dental endoscopy. A convenience sample of six participants was recruited from the dental hygiene faculty at a California community college, and a two-group randomized experimental design was utilized. Intra- and interrater reliability was measured before and after calibration training. Pretest and posttest Kappa averages of all participants were compared using repeated measures (split-plot) ANOVA to determine the effectiveness of the calibration training on intra- and interrater reliability. The results showed that both kinds of reliability significantly improved for all participants and the training group improved significantly in interrater reliability from pretest to posttest. Calibration training was beneficial to these dental hygiene faculty members, especially those beginning with less than full agreement. This study suggests that calculus detection calibration training utilizing dental endoscopy can effectively improve interrater reliability of dental and dental hygiene clinical educators. Future studies should include human subjects, involve more participants at multiple locations, and determine whether improved rater reliability can be sustained over time.
Tay, C S
Medical and dental errors and negligence are again in the spotlight in recent news report. Dead because of doctor's bad handwriting Prescribing drug overdoses Germ-infested soap pumps--infections in hospitals This articles explains dental negligence including dental duty of care and the standard of care expected of dentists in relation to the Bolam principle.
de Jonge, A. W.; Wildenbeest, J. G. W.; Boessenkool, H.; Abbink, D. A.
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
Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok
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.
Garrett, Stephen Francis
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 ...
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...
Nascimento, Leonardo Penteado; Martini, Joyce; Voos, Mariana Callil; Chien, Hsin Fen; Caromano, Fátima Aparecida
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...
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.
Qin, Huanhuan; Song, Aiguo; Liu, Yuqing; Jiang, Guohua; Zhou, Bohe
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
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.
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
Full Text Available Maintaining equilibrium is basically a sensorimotor integration task. The central nervous system continually and selectively weights and rapidly integrates sensory inputs from multiple sources, and coordinates multiple outputs. The weighting process is based on the availability and accuracy of afferent signals at a given instant, on the time-period required to process each input, and possibly on the plasticity of the relevant pathways. The likelihood that sensory inflow changes while balancing under static or dynamic conditions is high, because subjects can pass from a dark to a well-lit environment or from a tactile-guided stabilization to loss of haptic inflow. This review article presents recent data on the temporal events accompanying sensory transition, on which basic information is fragmentary. The processing time from sensory shift to reaching a new steady state includes the time to (a subtract or integrate sensory inputs, (b move from allocentric to egocentric reference or vice versa, and (c adjust the calibration of motor activity in time and amplitude to the new sensory set. We present examples of processes of integration of posture-stabilizing information, and of the respective sensorimotor time-intervals while allowing or occluding vision or adding or subtracting tactile information. These intervals are short, in the order of 1-2 s for different postural conditions, modalities and deliberate or passive shift. They are just longer for haptic than visual shift, just shorter on withdrawal than on addition of stabilizing input, and on deliberate than unexpected mode. The delays are the shortest (for haptic shift in blind subjects. Since automatic balance stabilization may be vulnerable to sensory-integration delays and to interference from concurrent cognitive tasks in patients with sensorimotor problems, insight into the processing time for balance control represents a critical step in the design of new balance- and locomotion training
Honeine, Jean-Louis; Schieppati, Marco
Maintaining equilibrium is basically a sensorimotor integration task. The central nervous system (CNS) continually and selectively weights and rapidly integrates sensory inputs from multiple sources, and coordinates multiple outputs. The weighting process is based on the availability and accuracy of afferent signals at a given instant, on the time-period required to process each input, and possibly on the plasticity of the relevant pathways. The likelihood that sensory inflow changes while balancing under static or dynamic conditions is high, because subjects can pass from a dark to a well-lit environment or from a tactile-guided stabilization to loss of haptic inflow. This review article presents recent data on the temporal events accompanying sensory transition, on which basic information is fragmentary. The processing time from sensory shift to reaching a new steady state includes the time to (a) subtract or integrate sensory inputs; (b) move from allocentric to egocentric reference or vice versa; and (c) adjust the calibration of motor activity in time and amplitude to the new sensory set. We present examples of processes of integration of posture-stabilizing information, and of the respective sensorimotor time-intervals while allowing or occluding vision or adding or subtracting tactile information. These intervals are short, in the order of 1–2 s for different postural conditions, modalities and deliberate or passive shift. They are just longer for haptic than visual shift, just shorter on withdrawal than on addition of stabilizing input, and on deliberate than unexpected mode. The delays are the shortest (for haptic shift) in blind subjects. Since automatic balance stabilization may be vulnerable to sensory-integration delays and to interference from concurrent cognitive tasks in patients with sensorimotor problems, insight into the processing time for balance control represents a critical step in the design of new balance- and locomotion training devices
The Dental Classification system used by the uniformed services is supposed to predict the incidence of dental emergencies in the operational setting, at least on the unit level. Since most Sailors and Marines are deployed without close dental support, the sea services have adopted a policy of early treatment of class 3 dental conditions during recruit training. The other services are beginning to do the same. Recently, two factors have emerged that are affecting this early dental class 3 treatment. These factors must be considered when planning to provide early dental treatment. First, changing population and dentist provider demographics in the civilian sector are beginning to affect the class 3 treatment needs of incoming military recruits. Second, attrition from recruit training results in treatment provided to recruits who leave military service before finishing their training. Some view this as a waste of resources, others as a cost of doing business. As operational jointness increases, the three services must develop and use a single dental classification terminology, as well as unified standards and guidelines, both for better research in this area and for the readiness and well-being of our patients.
Bader, James; And Others
The background, origins, functions, and recommendations of the American Association of Dental Schools' task force investigating improvement of access to dental hygiene training programs and of curriculum and program design are presented. (MSE)
In primary teeth, avulsion was the most common type of dental injury (23%); on the ... The most common treatment choices in permanent teeth were restoration and ... and dental hospital physicians should be subjected to postgraduate training.
Serafin, Stefania; Turchet, Luca; Nordahl, Rolf
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,...
Koutsoklenis, Athanasios; Papadopoulos, Konstantinos
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…
van Oosterhout, J.; Abbink, D. A.; Koning, J. F.; Boessenkool, H.; Wildenbeest, J. G. W.; Heemskerk, C. J. M.
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
Park, Chung Hyuk; Ryu, Eun-Seok; Howard, Ayanna M
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.
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
Daniliauskaite, Kristina; Magnusdottir, Agusta; Bjørkå, Henrik Birke
, 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...
Minogue, James; Borland, David
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.
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…
Choi, Seung-Hyun; Kim, Soomin; Kim, Pyunghwa; Park, Jinhyuk; Choi, Seung-Bok
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.
Choi, Seung-Hyun; Kim, Soomin; Kim, Pyunghwa; Park, Jinhyuk; Choi, Seung-Bok
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)
Forner-Cordero, A.; Garcia, V.D.; Rodrigues, S.T.; Duysens, J.
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
Baum, Bruce J.; And Others
A program in one of the National Institutes of Health offers clinical training fellowships as a means of training potential dental school faculty by providing both unique clinical skills and high-quality research experience. The program was developed in response to a perceived need for change in academic dentistry. (MSE)
Nordahl, Rolf; Nilsson, Niels Christian; Turchet, Luca
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...
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
Yun, Gyu-young; Kim, Sang-Youn; Jang, Sang-Dong; Kim, Dong-Gu; Kim, Jaehwan
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.
Shearston, Jenni A; Shah, Krina; Cheng, Eric; Moosvi, Rizvan; Park, Su Hyun; Patel, Naiya; Spielman, Andrew I; Weitzman, Michael L
Using cigarettes and alternative tobacco products (ATPs) is associated with negative oral health outcomes, and dental health professionals are poised to help patients quit. The aim of this study was to determine dental, dental hygiene, and advanced dental students' use, knowledge, and beliefs about cigarettes and ATPs, including perceptions about their education in tobacco dependence treatment and counseling experience. All 1,783 students enrolled in the dental, dental hygiene, and postdoctoral dental programs at the New York University College of Dentistry were invited to participate in the survey in 2016. A total of 708 students at least partially completed the survey, for a response rate of 39.7%. In the results, 146 of the students (20.1%) reported ever using cigarettes, while 253 (35.7%) reported ever using any ATP. Regarding tobacco use intervention, the students reported they had not received enough training on ATPs, were neutral about cigarettes, and were somewhat confident and not so confident counseling a cigarette smoker or ATP user, respectively. By their fourth year, 77.8% of the dental students reported they had counseled someone to stop smoking cigarettes, but only 40.7% had counseled someone to stop using ATPs. Overall, all groups of students reported feeling more confident and had received more education on interventions for cigarettes than for ATPs (ptobacco and did not perceive they had received enough training on intervening with patients on use of cigarettes and ATPs. These findings call for a revised tobacco education curriculum for dental, dental hygiene, and advanced dental students, focused on building knowledge and confidence for promoting tobacco dependence treatment.
Rajanna, Vijay; Vo, Patrick; Barth, Jerry; Mjelde, Matthew; Grey, Trevor; Oduola, Cassandra; Hammond, Tracy
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
Brown, Jeremy D; Paek, Andrew; Syed, Mashaal; O'Malley, Marcia K; Shewokis, Patricia A; Contreras-Vidal, Jose L; Davis, Alicia J; Gillespie, R Brent
. Our results suggest that a backdrivable terminal device may hold advantages over non-backdrivable devices by allowing grip/load force coordination consistent with behaviors observed in the natural limb. Likewise, the inconclusive effect of referred haptic feedback on grasp and lift performance suggests the need for additional testing that includes adequate training for participants.
Nasser Mansour Assery
Conclusion: Dentists who participated in dental implantology workshops had a higher tendency to answer correctly compared to dentists who were given didactic courses in their undergraduate studies in issues associated with hands-on training. This shows that hands-on training in the undergraduate studies would result in a better understanding of dental implants, its complications, and management.
Bakker, Niels H.; Fokkens, Wytske J.; Grimbergen, Cornelis A.
The use of simulators for training FESS may in the future offer substantial advantages like increased exposure to difficult scenarios, reduced learning curves, and reduced costs. Training simulators may range from very simple, involving only visual simulation, to more complex, involving haptic
Full Text Available Stroke is a leading cause of long-term disability, and virtual reality- (VR- based stroke rehabilitation is effective in increasing motivation and the functional performance. Although much of the functional reach and grasp capabilities of the upper extremities were regained, the pinch movement remains impaired following stroke. In this study, we developed a haptic-enhanced VR system to simulate haptic pinch tasks to assist the recovery of upper-extremity fine motor function. We recruited 16 adults with stroke to verify the efficacy of this new VR system. Each patient received 30 min VR training sessions 3 times per week for 8 weeks. Outcome measures, Fugl-Meyer assessment (FMA, Test Evaluant les Membres superieurs des Personnes Agees (TEMPA, Wolf motor function test (WMFT, Box and Block test (BBT, and Jamar grip dynamometer, showed statistically significant progress from pretest to posttest and follow-up, indicating that the proposed system effectively promoted fine motor recovery of function. Additionally, our evidence suggests that this system was also effective under certain challenging conditions such as being in the chronic stroke phase or a coside of lesion and dominant hand (nondominant hand impaired. System usability assessment indicated that the participants strongly intended to continue using this VR-based system in rehabilitation.
Tanaka, Mami; Lévêque, Jean Luc; Tagami, Hachiro; Kikuchi, Katsuko; Chonan, Seifi
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.
Full Text Available The haptic perception of the curvature of an object is essential for adequate object manipulation and critical for our guidance of actions. This study investigated how the ability to perceive the curvature of an object is altered by Parkinson's disease (PD.Eight healthy subjects and 11 patients with mild to moderate PD had to judge, without vision, the curvature of a virtual "box" created by a robotic manipulandum. Their hands were either moved passively along a defined curved path or they actively explored the curved curvature of a virtual wall. The curvature was either concave or convex (bulging to the left or right and was judged in two locations of the hand workspace--a left workspace location, where the curved hand path was associated with curved shoulder and elbow joint paths, and a right workspace location in which these joint paths were nearly linear. After exploring the curvature of the virtual object, subjects had to judge whether the curvature was concave or convex. Based on these data, thresholds for curvature sensitivity were established. The main findings of the study are: First, 9 out 11 PD patients (82% showed elevated thresholds for detecting convex curvatures in at least one test condition. The respective median threshold for the PD group was increased by 343% when compared to the control group. Second, when distal hand paths became less associated with proximal joint paths (right workspace, haptic acuity was reduced substantially in both groups. Third, sensitivity to hand trajectory curvature was not improved during active exploration in either group.Our data demonstrate that PD is associated with a decreased acuity of the haptic sense, which may occur already at an early stage of the disease.
David Parisi offers the first full history of new computing technologies known as haptic interfaces--which use electricity, vibration, and force feedback to stimulate the sense of touch--showing how the efforts of scientists and engineers over the past 300 years have gradually remade and redefined our sense of touch. Archaeologies of Touch offers a timely and provocative engagement with the long history of touch technology that helps us confront and question the power relations underpinning the project of giving touch its own set of technical media.
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
Bradt, J; Teague, A
Anxiety is a significant issue in the dental care of adults and children. Dental anxiety often leads to avoidance of dental care which may result in significant deterioration of oral and dental health. Non-pharmacological anxiety management interventions such as music listening are increasingly used in dental care. Although efficacy for music's anxiolytic effects has been established for pre-operative anxiety, findings regarding the use of music listening for dental anxiety are inconclusive, especially for children. The use of music for passive distraction may not be adequate for children and highly anxious adults. Instead, interventions offered by a trained music therapist may be needed to optimize music's anxiolytic impact. Music therapy interventions are individualized to the patient's presenting needs and geared at enhancing patients' active engagement in the management of their anxiety. Interventions may include (i) active refocusing of attention, (ii) music-guided deep breathing, (iii) music-assisted relaxation, and (iv) music-guided imagery. In addition, music therapists can teach patients music-based anxiety management skills prior to dental treatments, offer them the opportunity to express emotions related to the upcoming procedure, and help them gain a sense of control and safety. Clinical guidelines for the use of music listening by dental practitioners are offered. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
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.
Cosco, Francesco; Garre, Carlos; Bruno, Fabio; Muzzupappa, Maurizio; Otaduy, Miguel A
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.
Zenner, Andre; Kruger, Antonio
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.
Chami, George; Ward, James W; Phillips, Roger; Sherman, Kevin P
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.
Tse, Z T H; Elhawary, H; Rea, M; Young, I; Davis, B L; Lamperth, M
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.
Visell, Y; Law, A; Cooperstock, J R
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.
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
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.
Andualem Tadesse Maereg
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.
Davis, J.T.; Book, W.J.
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
[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...
[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...
Alexandra L. Borstad
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
Borstad, Alexandra L; Choi, Seongjin; Schmalbrock, Petra; Nichols-Larsen, Deborah S
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
Wilder-Smith, Petra; Otis, Linda; Zhang, Jun; Chen, Zhongping
This chapter describes the applications of OCT for imaging in vivo dental and oral tissue. The oral cavity is a diverse environment that includes oral mucosa, gingival tissues, teeth and their supporting structures. Because OCT can image both hard and soft tissues of the oral cavity at high resolution, it offers the unique capacity to identity dental disease before destructive changes have progressed. OCT images depict clinically important anatomical features such as the location of soft tissue attachments, morphological changes in gingival tissue, tooth decay, enamel thickness and decay, as well as the structural integrity of dental restorations. OCT imaging allows for earlier intervention than is possible with current diagnostic modalities.
Burgersdijk, R.C.W.; Kersten, H.
The changing oral situation in the Netherlands, the upgrading of the dental hygienist training and the introduction of the bachelor and master degree in the Dutch higher education system asks for a new dental professional: the oral physician. To prepare the oral physician for his role as leader of a
Full Text Available Background: Dental anxiety is a major issue with respect to provisions of and access to dental care. We evaluated the knowledge and management of anxiety among Nigerian dentists. Materials and Methods: The study population included 192 Nigerian dentists recruited during an annual national dental conference in Abuja. The conference was a meeting point for dentists with post graduation experience ranging between 1 and 32 years and from different part of the country. They completed a structured questionnaire on dental anxiolysis. Data analysis was performed using SPSS version 16. Results: Of the interviewed dentists, 122 (55.1% practiced in teaching hospitals and 24% had their specialization in child dental health. A total of 34 (19.8% dentists had been exposed to formal trainings on the practice of dental anxiolysis. Of this number, 66% had basic life support training and only 11.8% had refresher training programs. The most preferred route of administration of anxiolytic drugs was oral (57.3%. Most of the respondents were of the view that dental anxiolysis should not be instituted for all dental patients. Conclusion: The interviewed Nigerian dentists were knowledgeable and managed dental anxiety. Although some of them had no formal training on dental anxiolysis, the major consensus is that dental anxiolysis should not be instituted for all dental patients.
Background. The creating, maintenance and storage of patients' medical records is an important competence for the professional training of a dental student. Objective. Owing to the unsatisfactory state of dental records at the students' clinic, the objective of this study was to obtain information from undergraduate dental ...
Full Text Available Robot based therapy is one of the prevalent therapeutic approaches in motor stroke rehabilitation. It is often used in hospitals in combination with conventional therapy. In order to optimize human-robot interaction, we aim to investigate how a therapist physically supports patients during motor training of the upper extremities. This paper presents the design of a flexible textile sensor matrix, which measures the pressure exerted between therapist and patient during direct haptic interaction as well as the hand position and orientation in space. The matrix contains 144 sensors which enables measuring pressure intensity and localization of areas where the pressure is applied. The measurement matrix was evaluated with four healthy participants.
Sari, M E; Ozmen, B; Koyuturk, A E; Tokay, U; Kasap, P; Guler, D
The purpose of this study was to analyze traumatic dental injuries in children visiting the dental hospital emergency department in Samsun of Turkey, in the period from 2007 to 2011. Data of age, gender, causes of dental trauma, injured teeth, type of dental injuries, the application period, the dental treatments, and traumatic dental injuries according to the seasons were obtained from the records at dental hospital. Of all 320 patients with traumatic dental injury, 205 were boys and 115 were girls with a boys/girls ratio 1.78:1. Traumatic dental injury was observed more frequently in the 7-12 age groups: 52.5% in girls and 67.8% in boys. Falls are the major cause of traumatic dental injury in the age group 6-12 (51.4%). Sport activities are a common cause of traumatic dental injury in the 7-12 age group (34.2%). Patients visited a dentist within approximately 2 h (57.1%). The upper anterior teeth were subjected to trauma more frequently than the lower anterior teeth. The maxillary central incisors were the most commonly affected teeth, and the mandibular canins were the least affected teeth. In primary teeth, avulsion was the most common type of dental injury (23%); on the other hand, enamel fractures were the most common type of dental injury (30.6%) observed in permanent teeth. In the primary dentition, the most commonly performed treatments were dental examination and prescribing (70%). The most common treatment choices in permanent teeth were restoration and dental examination (49.7 and 15.8%, respectively). The results of the study show that the emergency intervention to traumatized teeth is important for good prognosis of teeth and oral tissues. Therefore, the parents should be informed about dental trauma in schools, and dental hospital physicians should be subjected to postgraduate training.
... 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...
Bode, Dyon; Mugge, Winfred; Schouten, Alfred C.; van Rootselaar, Anne-Fleur; Bour, Lo J.; van der Helm, Frans C. T.; Lammertse, Piet
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
Bernstein, Nicholas; Lawrence, Dale; Pao, Lucy
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.
Li, Hongbing; Zhang, Lei; Kawashima, Kenji
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.
Butali, A; Adeyemo, W L; Akinshipo, A O; Fashina, A; Savage, K O
The aim of this study was to investigate the use of information technology amongst dental students, dental nursing students and resident doctors in training at the faculty of dental Surgery University of Lagos. A structured questionnaire was distributed to 58 clinical dental students in 4 th and 5 th years of training in the 2010/2011 academic year, 36 dental nursing students and 63 resident doctors undergoing specialist training. All participants have access to the computers, 2.5% within the University and 31% at home and internet cafes and about 50% have the basic skills required. A significant difference was observed between the resident doctors and clinical dental students (P = 0.003), between resident doctors and dental nursing students (P = 0.0001) when the use of computer for study was compared. Over 95% of participants have access to internet and about 50% of them use the internet for their studies. A significant difference (P = 0.005) was observed between clinical dental students and dental nursing students that use the internet and word processing. The resident doctors used the computers for multimedia and MedLine search tools more than clinical dental students (P = 0.004) and dental nursing students (0.0006). The findings of the study show that dental students and resident doctors in training have the requisite knowledge to operate the computer for use in their study and personal activities.
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
Margolis, Todd; DeFanti, Thomas A.; Dawe, Greg; Prudhomme, Andrew; Schulze, Jurgen P.; Cutchin, Steve
Researchers at the University of California, San Diego, have created a new, relatively low-cost augmented reality system that enables users to touch the virtual environment they are immersed in. The Heads-Up Virtual Reality device (HUVR) couples a consumer 3D HD flat screen TV with a half-silvered mirror to project any graphic image onto the user's hands and into the space surrounding them. With his or her head position optically tracked to generate the correct perspective view, the user maneuvers a force-feedback (haptic) device to interact with the 3D image, literally 'touching' the object's angles and contours as if it was a tangible physical object. HUVR can be used for training and education in structural and mechanical engineering, archaeology and medicine as well as other tasks that require hand-eye coordination. One of the most unique characteristics of HUVR is that a user can place their hands inside of the virtual environment without occluding the 3D image. Built using open-source software and consumer level hardware, HUVR offers users a tactile experience in an immersive environment that is functional, affordable and scalable.
Erickson, David; Lacheray, Hervé; Daly, John
Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voiceoperated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.
Hanisch, Natalie; Pierobon, Massimiliano
The ever increasing biocompatibility and pervasive nature of wearable and implantable devices demand novel sustainable solutions to realize their connectivity, which can impact broad application scenarios such as in the defense, biomedicine, and entertainment fields. Where wireless electromagnetic communications are facing challenges such as device miniaturization, energy scarcity, limited range, and possibility of interception, solutions not only inspired but also based on natural communication means might result into valid alternatives. In this paper, a communication paradigm where digital information is propagated through the nervous system is proposed and analyzed on the basis of achievable information rates. In particular, this paradigm is based on an analytical framework where the response of a system based on haptic (tactile) information transmission and ElectroEncephaloGraphy (EEG)-based reception is modeled and characterized. Computational neuroscience models of the somatosensory signal representation in the brain, coupled with models of the generation and propagation of somatosensory stimulation from skin mechanoreceptors, are employed in this paper to provide a proof-of-concept evaluation of achievable performance in encoding information bits into tactile stimulation, and decoding them from the recorded brain activity. Based on these models, the system is simulated and the resulting data are utilized to train a Support Vector Machine (SVM) classifier, which is finally used to provide a proof-of-concept validation of the system performance in terms of information rates against bit error probability at the reception.
Researchers at the University of California, San Diego, have created a new, relatively low-cost augmented reality system that enables users to touch the virtual environment they are immersed in. The Heads-Up Virtual Reality device (HUVR) couples a consumer 3D HD flat screen TV with a half-silvered mirror to project any graphic image onto the user\\'s hands and into the space surrounding them. With his or her head position optically tracked to generate the correct perspective view, the user maneuvers a force-feedback (haptic) device to interact with the 3D image, literally \\'touching\\' the object\\'s angles and contours as if it was a tangible physical object. HUVR can be used for training and education in structural and mechanical engineering, archaeology and medicine as well as other tasks that require hand-eye coordination. One of the most unique characteristics of HUVR is that a user can place their hands inside of the virtual environment without occluding the 3D image. Built using open-source software and consumer level hardware, HUVR offers users a tactile experience in an immersive environment that is functional, affordable and scalable.
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)
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...
Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo
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...
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.
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
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.
Bolopion , Aude; Ni , Zhenjiang; Agnus , Joël; Benosman , Ryad; Régnier , Stéphane
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...
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.
Zhu, Bowen; Wang, Hong; Liu, Yaqing; Qi, Dianpeng; Liu, Zhiyuan; Wang, Hua; Yu, Jiancan; Sherburne, Matthew; Wang, Zhaohui; Chen, Xiaodong
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.
... sugar water. As the child grows, establishing proper dental hygiene will promote healthy teeth and gums which are essential to overall good health. Poor dental development, dental disease, and dental trauma can result ...
Kim, Mingyu; Jeon, Changyu; Kim, Jinmo
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.
Han, Young-Min; Kim, Chan-Jung; Choi, Seung-Bok
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
Ponce Wong, Ruben D.; Hellman, Randall B.; Santos, Veronica J.
Haptic perception remains a grand challenge for artificial hands. Dexterous manipulators could be enhanced by "haptic intelligence" that enables identification of objects and their features via touch alone. Haptic perception of local shape would be useful when vision is obstructed or when proprioceptive feedback is inadequate, as observed in this study. In this work, a robot hand outfitted with a deformable, bladder-type, multimodal tactile sensor was used to replay four human-inspired haptic "exploratory procedures" on fingertip-sized geometric features. The geometric features varied by type (bump, pit), curvature (planar, conical, spherical), and footprint dimension (1.25 - 20 mm). Tactile signals generated by active fingertip motions were used to extract key parameters for use as inputs to supervised learning models. A support vector classifier estimated order of curvature while support vector regression models estimated footprint dimension once curvature had been estimated. A distal-proximal stroke (along the long axis of the finger) enabled estimation of order of curvature with an accuracy of 97%. Best-performing, curvature-specific, support vector regression models yielded R2 values of at least 0.95. While a radial-ulnar stroke (along the short axis of the finger) was most helpful for estimating feature type and size for planar features, a rolling motion was most helpful for conical and spherical features. The ability to haptically perceive local shape could be used to advance robot autonomy and provide haptic feedback to human teleoperators of devices ranging from bomb defusal robots to neuroprostheses.
Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok
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.
Hwang, Yong-Hoon; Cha, Seung-Woo; Kang, Seok-Rae; Choi, Seung-Bok
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.
Kim, Mingyu; Jeon, Changyu; Kim, Jinmo
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
Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok
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)
Vinod Kumar Baranwal
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.
Garfjeld Roberts, Patrick; Guyver, Paul; Baldwin, Mathew; Akhtar, Kash; Alvand, Abtin; Price, Andrew J; Rees, Jonathan L
To assess the construct and face validity of ArthroS, a passive haptic VR simulator. A secondary aim was to evaluate the novel performance metrics produced by this simulator. Two groups of 30 participants, each divided into novice, intermediate or expert based on arthroscopic experience, completed three separate tasks on either the knee or shoulder module of the simulator. Performance was recorded using 12 automatically generated performance metrics and video footage of the arthroscopic procedures. The videos were blindly assessed using a validated global rating scale (GRS). Participants completed a survey about the simulator's realism and training utility. This new simulator demonstrated construct validity of its tasks when evaluated against a GRS (p ≤ 0.003 in all cases). Regarding it's automatically generated performance metrics, established outputs such as time taken (p ≤ 0.001) and instrument path length (p ≤ 0.007) also demonstrated good construct validity. However, two-thirds of the proposed 'novel metrics' the simulator reports could not distinguish participants based on arthroscopic experience. Face validity assessment rated the simulator as a realistic and useful tool for trainees, but the passive haptic feedback (a key feature of this simulator) is rated as less realistic. The ArthroS simulator has good task construct validity based on established objective outputs, but some of the novel performance metrics could not distinguish between surgical experience. The passive haptic feedback of the simulator also needs improvement. If simulators could offer automated and validated performance feedback, this would facilitate improvements in the delivery of training by allowing trainees to practise and self-assess.
Full Text Available When two robot systems can share understanding using any agreed knowledge, within the constraints of the system’s communication protocol, the approach may lead to a common improvement. This has persuaded numerous new research inquiries in human-robot collaboration. We have built up a framework prepared to do independent following and performing table-best protest object manipulation with humans and we have actualized two different activity models to trigger robot activities. The idea here is to explore collaborative systems and to build up a plan for them to work in a collaborative environment which has many benefits to a single more complex system. In the paper, two robots that cooperate among themselves are constructed. The participation linking the two robotic arms, the torque required and parameters are analyzed. Thus the purpose of this paper is to demonstrate a modular robot system which can serve as a base on aspects of robotics in collaborative robots using haptics.
Zheng Yaoyang; Shimada, Kunio
To provide a new composite material having a high electrical sensitivity in the fields of robotics and sensing, a magnetic rubber having network-like magnetic clusters was developed by utilizing a magnetic compound fluid (MCF). MCF rubber with small deformations can provide an effective sensor. In this paper, we report many experiments in which changes of the MCF rubber's resistance were observed when the rubber was compressed and a deformation was generated; we then made a trial haptic sensor using the MCF conductive rubber and performed many experiments to observe changes of the electrical resistance of the sensor. The results of experiments showed that the proposed sensor made with MCF conductive rubber is useful for sensing small amounts of pressure or small deformations
Zheng Yaoyang; Shimada, Kunio [Faculty of Symbiotic Systems Science Fukushima University, 1 Kanayakawa, Fukushima 960-1296 (Japan)], E-mail: firstname.lastname@example.org, E-mail: email@example.com
To provide a new composite material having a high electrical sensitivity in the fields of robotics and sensing, a magnetic rubber having network-like magnetic clusters was developed by utilizing a magnetic compound fluid (MCF). MCF rubber with small deformations can provide an effective sensor. In this paper, we report many experiments in which changes of the MCF rubber's resistance were observed when the rubber was compressed and a deformation was generated; we then made a trial haptic sensor using the MCF conductive rubber and performed many experiments to observe changes of the electrical resistance of the sensor. The results of experiments showed that the proposed sensor made with MCF conductive rubber is useful for sensing small amounts of pressure or small deformations.
Zheng, Yaoyang; Shimada, Kunio
To provide a new composite material having a high electrical sensitivity in the fields of robotics and sensing, a magnetic rubber having network-like magnetic clusters was developed by utilizing a magnetic compound fluid (MCF). MCF rubber with small deformations can provide an effective sensor. In this paper, we report many experiments in which changes of the MCF rubber's resistance were observed when the rubber was compressed and a deformation was generated; we then made a trial haptic sensor using the MCF conductive rubber and performed many experiments to observe changes of the electrical resistance of the sensor. The results of experiments showed that the proposed sensor made with MCF conductive rubber is useful for sensing small amounts of pressure or small deformations.
Tsuchimi, Daisuke; Okuyama, Takeshi; Tanaka, Mami
This paper is concerned with the development of a tactile sensor using PVDF (Polyvinylidene Fluoride) film as a sensory receptor of the sensor to evaluate softness, smoothness, and stickiness of human skin. Tactile sense is the most important sense in the sensation receptor of the human body along with eyesight, and we can examine skin condition quickly using these sense. But, its subjectivity and ambiguity make it difficult to quantify skin conditions. Therefore, development of measurement device which can evaluate skin conditions easily and objectively is demanded by dermatologists, cosmetic industries, and so on. In this paper, an advanced haptic sensor system that can measure multiple information of skin condition in various parts of human body is developed. The applications of the sensor system to evaluate softness, smoothness, and stickiness of skin are investigated through two experiments.
Nguyen, Phuong-Bac; Oh, Jong-Seok; Choi, Seung-Bok
This paper introduces a novel 3-DOF haptic master device for minimally invasive surgery featuring magneto-rheological (MR) fluid. It consists of three rotational motions. These motions are constituted by two bi-directional MR (BMR) plus one conventional MR brakes. The BMR brake used in the system possesses a salient advantage that its range of braking torque varies from negative to positive values. Therefore, the device is expected to be able sense in a wide environment from very soft tissues to bones. In this paper, overall of the design of the device is presented from idea, modeling, optimal design, manufacturing to control of the device. Moreover, experimental investigation is undertaken to validate the effectiveness of the device.
Cannella, F; Olivieri, E; Caldwell, D G; Scalise, L; Memeo, M
Research on tactile sensitivity has been conducted since the last century and many devices have been proposed to study in detail this sense through experimental tests. The sense of touch is essential in every-day life of human beings, but it can also play a fundamental role for the assessment of some neurological disabilities and pathologies. In fact, the level of tactile perception can provide information on the health state of the nervous system. In this paper, authors propose the design and development of a novel test apparatus, named DITA (Dynamic Investigation Test-rig on hAptics), aiming to provide the measurement of the tactile sensitivity trough the determination of the Just Noticeable Difference (JND) curve of a subject. The paper reports the solution adopted for the system design and the results obtained on the set of experiments carried out on volunteers
Wood, Claudia; Sugiharto, Albert Budiman; Max, Eva; Fery, Andreas
Shampoo treatment and hair conditioning have a direct impact on our wellbeing via properties like combability and haptic perception of hair. Therefore, systematic investigations leading to quality improvement of hair care products are of major interest. The aim of our work is a better understanding of complex testing and the correlation with quantitative parameters. The motivation for the development of physical testing methods for hair feel relates to the fact that an ingredient supplier like BASF can only find new, so far not yet toxicologically approved chemistries for hair cosmetics, if an in-vitro method exists.In this work, the effects of different shampoo treatments with conditioning polymers are investigated. The employed physical test method, dry friction measurements and AFM observe friction phenomena on a macroscopic as well as on a nanoscale directly on hair. They are an approach to complement sensoric evaluation with an objective in-vitro method.
Nishino, Hiroaki; Yamaguchi, Akira; Kagawa, Tsuneo; Utsumiya, Kouichi
We present a system to realize an on-line instruction environment among physically separated participants based on a multi-modal communication strategy. In addition to visual and acoustic information, commonly used communication modalities in network environments, our system provides a haptic channel to intuitively conveying partners' sense of touch. The human touch sensation, however, is very sensitive for delays and jitters in the networked virtual reality (NVR) systems. Therefore, a method to compensate for such negative factors needs to be provided. We show an NVR architecture to implement a basic framework that can be shared by various applications and effectively deals with the problems. We take a hybrid approach to implement both data consistency by client-server and scalability by peer-to-peer models. As an application system built on the proposed architecture, a remote instruction system targeted at teaching handwritten characters and line patterns on a Korea-Japan high-speed research network also is mentioned.
Keyes, Paul H.; Rams, Thomas E.
Background An inverse relationship between dental calculus mineralization and dental caries demineralization on teeth has been noted in some studies. Dental calculus may even form superficial layers over existing dental caries and arrest their progression, but this phenomenon has been only rarely documented and infrequently considered in the field of Cariology. To further assess the occurrence of dental calculus arrest of dental caries, this study evaluated a large number of extracted human t...
Jones, Vickie E; Karydis, Anastasios; Hottel, Timothy L
Interprofessional and intraprofessional education (when students from two or more professions or within the same profession, respectively, learn about, from, and/or with each other) is crucial for effective interdisciplinary collaboration. The aims of this study were to assess the effectiveness of a clinical intraprofessional education program for dental and dental hygiene students, based on students' expectations and satisfaction with the program and patients' satisfaction with the team-based care. The pilot program was developed at the University of Tennessee Health Science Center College of Dentistry, where dental hygiene students were paired randomly with dental students scheduled for prophylaxis, scaling and root planing, or periodontal maintenance. Surveys with questions about the students' expectations and satisfaction were distributed to 89 senior dental students and 27 senior dental hygiene students before and after team-based procedures. Another survey was distributed to 17 patients asking about their satisfaction with the team-based care. All 27 dental hygiene students (100% response rate), 51 dental students (57.3% response rate), and all 17 patients (100% response rate) participated in the surveys. The results showed that both the dental and dental hygiene students had high expectations and were overall satisfied with the intraprofessional education. The students' expectations and perceived educational gap (difference between expectations and satisfaction) differed for the dental and dental hygiene students (ppatients were overwhelmingly satisfied with the team-based care. These results suggest that this intraprofessional practice model provided an effective educational experience for both dental and dental hygiene students and patients. The differences between the dental hygiene and dental students' expectations will help in the design of more effective training that promotes intraprofessional and interprofessional teamwork.
Afzal, Muhammad Raheel; Byun, Ha-Young; Oh, Min-Kyun; Yoon, Jungwon
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
Orellana, Lorena M.; Martínez-Sanchis, Sonia; Silvestre, Francisco J.
The specific neuropsychological and sensory profile found in persons with autism spectrum disorders complicate dental procedures and as a result of this, most are treated under general anesthesia or unnecessary sedation. The main goal of the present study was to evaluate the effectiveness of a short treatment and education of autistic and related…
Gmeiner, Matthias; Dirnberger, Johannes; Fenz, Wolfgang; Gollwitzer, Maria; Wurm, Gabriele; Trenkler, Johannes; Gruber, Andreas
Realistic, safe, and efficient modalities for simulation-based training are highly warranted to enhance the quality of surgical education, and they should be incorporated in resident training. The aim of this study was to develop a patient-specific virtual cerebral aneurysm-clipping simulator with haptic force feedback and real-time deformation of the aneurysm and vessels. A prototype simulator was developed from 2012 to 2016. Evaluation of virtual clipping by blood flow simulation was integrated in this software, and the prototype was evaluated by 18 neurosurgeons. In 4 patients with different medial cerebral artery aneurysms, virtual clipping was performed after real-life surgery, and surgical results were compared regarding clip application, surgical trajectory, and blood flow. After head positioning and craniotomy, bimanual virtual aneurysm clipping with an original forceps was performed. Blood flow simulation demonstrated residual aneurysm filling or branch stenosis. The simulator improved anatomic understanding for 89% of neurosurgeons. Simulation of head positioning and craniotomy was considered realistic by 89% and 94% of users, respectively. Most participants agreed that this simulator should be integrated into neurosurgical education (94%). Our illustrative cases demonstrated that virtual aneurysm surgery was possible using the same trajectory as in real-life cases. Both virtual clipping and blood flow simulation were realistic in broad-based but not calcified aneurysms. Virtual clipping of a calcified aneurysm could be performed using the same surgical trajectory, but not the same clip type. We have successfully developed a virtual aneurysm-clipping simulator. Next, we will prospectively evaluate this device for surgical procedure planning and education. Copyright © 2018 Elsevier Inc. All rights reserved.
Kaste, L M; Sadler, Z E; Hayes, K L; Narendran, S; Niessen, L C; Weintraub, J A
The purpose of this study was to assess the representation of academically based diplomates of the American Board of Dental Public Health (ABDPH) and to identify their perceptions on the training of dental public health predoctoral faculty. Data were collected by a mailed, self-administered, 13-item questionnaire. The population was the 48 diplomates of the ABDPH as of March 1997 associated with academic institutions. Twenty of the 55 US dental schools had a diplomate of the ABDPH with a mean of 1.8 diplomates per school with a diplomate. An average of 4.5 full-time faculty members per school were associated with teaching dental public health. A master's degree in public health (MPH) was the most frequently suggested educational requirement for dental public health faculty. Continuing education courses were training needs perceived for dental public health faculty. The lack of time, money, and incentives, along with perceived rigidity of requirements for board certification, were reported as major barriers for faculty becoming dental public health board certified. Numerous challenges confront the development of a strong dental public health presence in US dental schools. These challenges include, among others, insufficient numbers of academic dental public health specialists and insufficient motivations to encourage promising candidates to pursue specialty status.
Pitts, Nigel B; Zero, Domenick T; Marsh, Phil D
Dental caries is a biofilm-mediated, sugar-driven, multifactorial, dynamic disease that results in the phasic demineralization and remineralization of dental hard tissues. Caries can occur throughout life, both in primary and permanent dentitions, and can damage the tooth crown and, in later life......, exposed root surfaces. The balance between pathological and protective factors influences the initiation and progression of caries. This interplay between factors underpins the classification of individuals and groups into caries risk categories, allowing an increasingly tailored approach to care. Dental...... caries is an unevenly distributed, preventable disease with considerable economic and quality-of-life burdens. The daily use of fluoride toothpaste is seen as the main reason for the overall decline of caries worldwide over recent decades. This Primer aims to provide a global overview of caries...
Keyes, Paul H; Rams, Thomas E
An inverse relationship between dental calculus mineralization and dental caries demineralization on teeth has been noted in some studies. Dental calculus may even form superficial layers over existing dental caries and arrest their progression, but this phenomenon has been only rarely documented and infrequently considered in the field of Cariology. To further assess the occurrence of dental calculus arrest of dental caries, this study evaluated a large number of extracted human teeth for the presence and location of dental caries, dental calculus, and dental plaque biofilms. A total of 1,200 teeth were preserved in 10% buffered formal saline, and viewed while moist by a single experienced examiner using a research stereomicroscope at 15-25× magnification. Representative teeth were sectioned and photographed, and their dental plaque biofilms subjected to gram-stain examination with light microscopy at 100× magnification. Dental calculus was observed on 1,140 (95%) of the extracted human teeth, and no dental carious lesions were found underlying dental calculus-covered surfaces on 1,139 of these teeth. However, dental calculus arrest of dental caries was found on one (0.54%) of 187 evaluated teeth that presented with unrestored proximal enamel caries. On the distal surface of a maxillary premolar tooth, dental calculus mineralization filled the outer surface cavitation of an incipient dental caries lesion. The dental calculus-covered carious lesion extended only slightly into enamel, and exhibited a brown pigmentation characteristic of inactive or arrested dental caries. In contrast, the tooth's mesial surface, without a superficial layer of dental calculus, had a large carious lesion going through enamel and deep into dentin. These observations further document the potential protective effects of dental calculus mineralization against dental caries.
Keyes, Paul H.; Rams, Thomas E.
Background An inverse relationship between dental calculus mineralization and dental caries demineralization on teeth has been noted in some studies. Dental calculus may even form superficial layers over existing dental caries and arrest their progression, but this phenomenon has been only rarely documented and infrequently considered in the field of Cariology. To further assess the occurrence of dental calculus arrest of dental caries, this study evaluated a large number of extracted human teeth for the presence and location of dental caries, dental calculus, and dental plaque biofilms. Materials and methods A total of 1,200 teeth were preserved in 10% buffered formal saline, and viewed while moist by a single experienced examiner using a research stereomicroscope at 15-25× magnification. Representative teeth were sectioned and photographed, and their dental plaque biofilms subjected to gram-stain examination with light microscopy at 100× magnification. Results Dental calculus was observed on 1,140 (95%) of the extracted human teeth, and no dental carious lesions were found underlying dental calculus-covered surfaces on 1,139 of these teeth. However, dental calculus arrest of dental caries was found on one (0.54%) of 187 evaluated teeth that presented with unrestored proximal enamel caries. On the distal surface of a maxillary premolar tooth, dental calculus mineralization filled the outer surface cavitation of an incipient dental caries lesion. The dental calculus-covered carious lesion extended only slightly into enamel, and exhibited a brown pigmentation characteristic of inactive or arrested dental caries. In contrast, the tooth's mesial surface, without a superficial layer of dental calculus, had a large carious lesion going through enamel and deep into dentin. Conclusions These observations further document the potential protective effects of dental calculus mineralization against dental caries. PMID:27446993
Background. Dental students are extensively trained to provide dental treatment to their patients during the undergraduate programme. However, no or little time is spent on the training of basic communication skills. Embedding a communication course in the curriculum would require support of the teaching staff and clinical ...
Song, Yu; Guo, Shuxiang; Yin, Xuanchun; Zhang, Linshuai; Hirata, Hideyuki; Ishihara, Hidenori; Tamiya, Takashi
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.
Schieppati, Marco; Schmid, Monica; Sozzi, Stefania
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.
Full Text Available The posterior inner perisylvian region including the secondary somatosensory cortex (area SII and the adjacent region of posterior insular cortex (pIC has been implicated in haptic processing by integrating somato-motor information during hand-manipulation, both in humans and in non-human primates. However, motor-related properties during hand-manipulation are still largely unknown. To investigate a motor-related activity in the hand region of SII/pIC, two macaque monkeys were trained to perform a hand-manipulation task, requiring 3 different grip types (precision grip, finger exploration, side grip both in light and in dark conditions. Our results showed that 70% (n = 33/48 of task related neurons within SII/pIC were only activated during monkeys' active hand-manipulation. Of those 33 neurons, 15 (45% began to discharge before hand-target contact, while the remaining neurons were tonically active after contact. Thirty-percent (n = 15/48 of studied neurons responded to both passive somatosensory stimulation and to the motor task. A consistent percentage of task-related neurons in SII/pIC was selectively activated during finger exploration (FE and precision grasping (PG execution, suggesting they play a pivotal role in control skilled finger movements. Furthermore, hand-manipulation-related neurons also responded when visual feedback was absent in the dark. Altogether, our results suggest that somato-motor neurons in SII/pIC likely contribute to haptic processing from the initial to the final phase of grasping and object manipulation. Such motor-related activity could also provide the somato-motor binding principle enabling the translation of diachronic somatosensory inputs into a coherent image of the explored object.
Hussein, S; Schmidt, H; Volkmar, M; Werner, C; Helmich, I; Piorko, F; Krüger, J; Hesse, S
The aim of gait rehabilitation is a restoration of an independent gait and improvement of daily life walking functions. Therefore the specific patterns, that are to be relearned, must be practiced to stimulate the learning process of the central nervous system (CNS). The Walking Simulator HapticWalker allows for the training of arbitrary gait trajectories of daily life. To evaluate the quality of the training a total of 9 subjects were investigated during free floor walking and stair climbing and during the same tasks in two different training modes on the HapticWalker: 1) with and 2) without vertical center of mass (CoM) motion. Electromyograms (EMG) of 8 gait relevant muscles were measured and muscle activation was compared for the various training modes. Besides the muscle activation as an indicator for the quality of rehabilitation training the study investigates if a cancellation of the vertical CoM movement by adaption of the footplate trajectory is feasible i.e. the muscle activation patterns for the two training modes on the HapticWalker agree. Results show no significant differences in activation timing between the training modes. This indicates the feasibility of using a passive patient suspension and emulate the vertical CoM motion by trajectory adaption of the footplates. The muscle activation timing during HapticWalker training shows important characteristics observed in physiological free walking though a few differences can still remain.
Diana L. Eubanks
Full Text Available Periodontal disease is among the most prevalent canine dis-eases affecting over 75% of dogs. Strengthening of the human-animal bond and the increasing education of the aver-age pet owner, have fostered a heightened awareness of periodontal care in dogs and cats. Industry support has further assisted the small animal veterinarian in providing quality dental treatments and prevention. As recently as the 1990’s, veterinary curriculums contained little or no dental training. That trend is changing as nearly every one of the 28 US Colleges of Veterinary Medicine offers some level of small animal dentistry during the four-year curriculum. Primary areas of focus are on client education, the treatment of periodontal disease, dental prophylaxis, dental radiology, endodontics, exodontics and pain control. Students receive instruction in dental anatomy during their di-dactic curriculum and later experience clinical cases. Graduate DVMs can attend a variety of continuing education courses and even choose to specialize in veterinary dentistry in both small animals and horses. Through the efforts of organizations such as the American Veterinary Dental So-ciety, The American Veterinary Dental College and The Academy of Veterinary Dentistry, many veterinarians have been able to advance their skills in dentistry and improve animal welfare. Increasing ex-pectations of the pet-owning public coupled with the recent advancements of training opportunities available for vete-rinary students, graduate DVMs and certified veterinary technicians make veterinary dentistry an emerging practice-builder among the most successful small animal hospitals.
Postma, Albert; Zuidhoek, Sander; Noordzij, Matthijs L.; Kappers, Astrid M L
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
Kvist, T; Zedrén-Sunemo, J; Graca, E; Dahllöf, G
To study if treatment under general anaesthesia (GA) is associated with dental neglect or dental disability. This was a retrospective study. Dental records of all children in the age 0-6 years who underwent GA at a specialist paediatric dentistry clinic during 2006-2011 were studied with regard to decayed-missed-filled teeth, traumatic injuries, emergency visits, behaviour management problems and the history of attendance. The final sample consisted of 134 children. Matched controls were selected among recall patients who had not received treatment under GA. Fishers exact test or Pearson Chi-square test analysed response distribution and comparisons between groups, and for multivariate analyses, logistic regression was used. The results show that children treated under GA had significantly higher caries prevalence, apical periodontitis and infections due to pulpal necrosis. Dental neglect as well as dental disability was significantly more prevalent in the GA group compared to the control group. In a multivariate analysis with dental neglect as independent factor, dental disability was the only significant factor (p = 0.006). Children treated under general anaesthesia were significantly more often diagnosed with both dental neglect and dental disability. Dental disability was the only factor significantly related to dental neglect. There is a need for improved documentation in the dental records to better identify dental neglect and dental disability, and also a continued training of dentists regarding child protection.
Dhima, Matilda; Petropoulos, Vicki C; Han, Rita K; Kinnunen, Taru; Wright, Robert F
The goals of this study were to 1) evaluate dental students' perceptions of dental specialties, 2) identify factors that play an important role in students' decision to pursue specialty training or career choices, and 3) establish a baseline of students' perceptions of the dental fields with the best future in terms of salary, personal and patient quality of life, and overall impact on the dental profession. Surveys were distributed to 494 students at the University of Pennsylvania School of Dental Medicine. Data were collected from 380 traditional four-year students and thirty advanced standing students. Chi-square tests, multivariate analysis, and logistic regressions were used to determine associations and independent contributions of student demographics to their perceptions of dental specialties and factors influencing specialty training or career choices. Debt was a statistically significant factor (p<0.001) in choosing specialty training or career independent of gender, age, or class year. Enjoyment of providing care in a specialty or field was identified as the single most important factor in choosing a specialty career. Half of the respondents had decided not to specialize. Pursuing postdoctoral general dentistry training and private practice in general dentistry were the most commonly reported plans after completion of dental school. Suggestions are made for ways to inform students about specialty training.
Prasad, M S Raghu; Manivannan, Muniyandi; Manoharan, Govindan; Chandramohan, S M
Most of the commercially available virtual reality-based laparoscopic simulators do not effectively evaluate combined psychomotor and force-based laparoscopic skills. Consequently, the lack of training on these critical skills leads to intraoperative errors. To assess the effectiveness of the novel virtual reality-based simulator, this study analyzed the combined psychomotor (i.e., motion or movement) and force skills of residents and expert surgeons. The study also examined the effectiveness of real-time visual force feedback and tool motion during training. Bimanual fundamental (i.e., probing, pulling, sweeping, grasping, and twisting) and complex tasks (i.e., tissue dissection) were evaluated. In both tasks, visual feedback on applied force and tool motion were provided. The skills of the participants while performing the early tasks were assessed with and without visual feedback. Participants performed 5 repetitions of fundamental and complex tasks. Reaction force and instrument acceleration were used as metrics. Surgical Gastroenterology, Government Stanley Medical College and Hospital; Institute of Surgical Gastroenterology, Madras Medical College and Rajiv Gandhi Government General Hospital. Residents (N = 25; postgraduates and surgeons with 4 and ≤10 years of laparoscopic surgery). Residents applied large forces compared with expert surgeons and performed abrupt tool movements (p < 0.001). However, visual + haptic feedback improved the performance of residents (p < 0.001). In complex tasks, visual + haptic feedback did not influence the applied force of expert surgeons, but influenced their tool motion (p < 0.001). Furthermore, in complex tissue sweeping task, expert surgeons applied more force, but were within the tissue damage limits. In both groups, exertion of large forces and abrupt tool motion were observed during grasping, probing or pulling, and tissue sweeping maneuvers (p < 0.001). Modern day curriculum-based training should evaluate the skills
Nakano, Tamami; Kato, Nobumasa; Kitazawa, Shigeru
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.
Bolopion, Aude; Dahmen, Christian; Stolle, Christian; Haliyo, Sinan; Régnier, Stéphane; Fatikow, Sergej
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.
Stoycheva, Polina; Tiippana, Kaisa
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.
Meli, Leonardo; Pacchierotti, Claudio; Prattichizzo, Domenico
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.
Beyl, T; Nicolai, P; Mönnich, H; Raczkowksy, J; Wörn, H
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.
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.
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.
Kang, Seok-Rae; Choi, Seung-Bok; Hwang, Yong-Hoon; Cha, Seung-Woo
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.
Viinikainen, Mikko; Tuominen, Janne; Alho, Pekka; Mattila, Jouni
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
Girod, Sabine; Schvartzman, Sara C; Gaudilliere, Dyani; Salisbury, Kenneth; Silva, Rebeka
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.
Holland, S.; Bouwer, A.J.; Dalgleish, M.; Hurtig, T.M.
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
Beckers, Niek; Keemink, Arvid; van Asseldonk, Edwin; van der Kooij, Herman; Prattichizzo, Domenico; Shinoda, Hiroyuki; Tan, Hong Z.; Ruffaldi, Emanuele; Frisoli, Antonio
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
Purpura, Giulia; Cioni, Giovanni; Tinelli, Francesca
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.
Jozani, F.; Parnianpour, H.
In considering the special provisions required in dental radiography, investigations were conducted in Iran. Radiation dose levels in dental radiography were found to be high. Patient exposure from intraoral radiographic examination was calculated, using 50kV X-ray. Thermoluminescent dosimeters were fastened to the nasion, eyes, lip, philtrum, thyroid, gonads and to the right and left of the supra-orbital, infra-orbital temporomandibular joints of live patients. The highest exposure value was for the lower lip. Recommendations concerning educational training and protection of staff and patients were included
... approved as institutional training or on-job training. 21.4265 Section 21.4265 Pensions, Bonuses, and... training or on-job training. (a) Medical-dental internships and residencies. (1) Medical residencies (other...) of this section. If the course is not so accredited such practical or on-the-job training or...
Parkes, Rebecca; Forrest, Neil; Baillie, Sarah
The opportunities for veterinary students to practice feline abdominal palpation are limited as cats have a low tolerance to being examined. Therefore, a mixed reality simulator was developed to complement clinical training. Two PHANToM premium haptic devices were positioned either side of a modified toy cat. Virtual models of the chest and some abdominal contents were superimposed on the physical model. The haptic properties of the virtual models were set by seven veterinarians; values were adjusted while the simulation was being palpated until the representation was satisfactory. Feedback from the veterinarians was encouraging suggesting that the simulator has a potential role in student training.
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.
Deeb, George R; Braun, Sarah; Carrico, Caroline; Kinser, Patricia; Laskin, Daniel; Golob Deeb, Janina
The aim of this study was to assess the relationship between burnout, depressive symptoms and suicidal ideation in dental and dental hygiene students and to evaluate the influence of gender, programme type and year of study. Third- and fourth-year dental (DS) and first- and second-year hygiene students (DHS) completed the Patient Health Questionnaire (PHQ-9) and an abbreviated Maslach Burnout Inventory online as measures of depressive symptoms/suicidality and burnout, respectively. The statistical analyses included summary statistics and tests for intergroup comparisons (chi-square) to evaluate the influence of gender, programme type (DHS or DS) and year of study. Correlations between depression, suicidality and burnout were also conducted. A total of 32 dental hygiene and 119 dental students participated. 40% of the dental and 38% of the hygiene students met criteria for burnout. No differences were found between years or between programmes. Nine per cent of both dental and hygiene students were above the cut-off for moderate depressive symptoms, but there were no statistical differences between the third- and fourth-year dental and the first- and second-year hygiene students. Six per cent of the dental and 9% of the dental hygiene students were above the cut-off for clinically significant suicidal ideation, but there were no statistical differences between dental and hygiene students. There were no differences noted in the dental students based on gender for any of the measures. Depression was significantly associated with all three subscales of burnout. Suicidal ideation was only significantly related to the lack of personal accomplishment subscale of burnout. These findings suggest the need for introducing preventive measures for such affective states in dental and dental hygiene training programmes. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Viirre, Erik; Ellisman, Mark
A researcher was working with a desktop virtual environment system. The system was displaying vector fields of a cyclonic weather system, and the system incorporated a haptic display of the forces in the cyclonic field. As the subject viewed the rotating cyclone field, they would move a handle "through" the representation of the moving winds and "feel" the forces buffeting the handle as it moved. Stopping after using the system for about 10 min, the user experienced an immediate sensation of postural instability for several minutes. Several hours later, there was the onset of vertigo with head turns. This vertigo lasted several hours and was accompanied with nausea and motion illusions that exacerbated by head movements. Symptoms persisted mildly the next day and were still present the third and fourth day, but by then were only provoked by head movements. There were no accompanying symptoms or history to suggest an inner ear disorder. Physical examination of inner ear and associated neurologic function was normal. No other users of this system have reported similar symptoms. This case suggests that some individuals may be susceptible to the interaction of displays with motion and movement forces and as a result experience motion illusions. Operators of such systems should be aware of this potential and minimize exposure if vertigo occurs.
Yau, Jeffrey M; Kim, Sung Soo; Thakur, Pramodsingh H; Bensmaia, Sliman J
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.
Cabuk, Burak; Ceylan, Savas; Anik, Ihsan; Tugasaygi, Mehtap; Kizir, Selcuk
To determine the feasibility, advantages, and disadvantages of using a robot for holding and maneuvering the endoscope in transnasal transsphenoidal surgery. The system used in this study was a Stewart Platform based robotic system that was developed by Kocaeli University Department of Mechatronics Engineering for positioning and holding of endoscope. After the first use on an artificial head model, the system was used on six fresh postmortem bodies that were provided by the Morgue Specialization Department of the Forensic Medicine Institute (Istanbul, Turkey). The setup required for robotic system was easy, the time for registration procedure and setup of the robot takes 15 minutes. The resistance was felt on haptic arm in case of contact or friction with adjacent tissues. The adaptation process was shorter with the mouse to manipulate the endoscope. The endoscopic transsphenoidal approach was achieved with the robotic system. The endoscope was guided to the sphenoid ostium with the help of the robotic arm. This robotic system can be used in endoscopic transsphenoidal surgery as an endoscope positioner and holder. The robot is able to change the position easily with the help of an assistant and prevents tremor, and provides a better field of vision for work.
Moore, R.; Brødsgaard, I.
Results of group therapy (GT) for extreme dental anxiety were compared with individual treatment (IT). Scales used measured dental anxiety, beliefs or trust in dentists, and fear of the next dentist after specialist treatment which showed reduced dental anxiety and improved dental beliefs compared...... with a static control group of 45 patients. The 30 GT patients showed no significant difference in dropouts during training compared with the 68 IT patients, but for patients who completed treatment, GT (n = 24) had greater dental anxiety reduction than IT subjects (n = 60). GT patients required fewer therapist...
Hall, Kara L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Neidhard-Doll, Amy T
Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. A human quadriceps dynamic simulator (HQDS) was developed so that control effectiveness and accommodation could be tested prior to human implementation. The experimental set-up and HQDS are discussed in Part I of this work. The development of a PMA haptic controller and its interaction with the HQDS are discussed in Part II.
Easton, R D; Srinivas, K; Greene, A J
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.
Ballesteros, Soledad; Reales, José M; Mayas, Julia; Heller, Morton A
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.
Perdigão, Luís M A; Saywell, Alex
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.
Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo
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.
Ergin, Mehmet Alper; Kühne, Markus; Thielscher, Axel
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...
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.
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.
Sossai, Najara; Universidade Paranaense - UNIPAR; Verdinelli, Ellen Carla; Universidade Paranaense - UNIPAR; Bassegio, Wagner; Universidade Paranaense - UNIPAR
O clareamento dental já é utilizado há bastante tempo na Odontologia e atualmente é um dos tratamentos odontológicos mais solicitados para obtenção de um sorriso mais estético. Classificado em clareamento caseiro e/ou de consultório, ambas as técnicas são motivo de polêmica quanto aos seus benefícios, riscos, limitações e efeito clareador, bem como sobre qual é a melhor técnica existente para a promoção de um clareamento dental eficaz e seguro. Neste contexto, o presente estudo tem por objeti...
... here to find out more. Dental Implant Surgery Dental Implant Surgery Dental implant surgery is, of course, ... to find out more. Wisdom Teeth Management Wisdom Teeth Management An impacted wisdom tooth can damage neighboring ...
... Interest Groups ADEA Governance Documents and Publications ADEA Dental Faculty Code of Conduct ADEA Bylaws ADEAGies Foundation ... Benefits for Faculty ADEA Member Benefits for Allied Dental Programs ADEA Member Benefits for Dental Schools ADEA ...
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.
Ten years have passed since the first articles appeared in this new field. The qualities of the laser light together with the need of contactless 3-D measurements for different dental purposes seemed to be extremely promising, but still just a few scientists have used the method and mostly for laboratory studies. For some reason there has been a preponderance for orthodontic measurements. This seems to be a bit peculiar from holographic view compared with measurements for engineering purposes, which usually are made on metals. So naturally holography can become a clinical tool for measurements in the field of fixed bridges, removable partial dentures and implants. One of the problems is that the need for holography in dental research must be fulfilled in collaboration with physicists. Only a two-way communication during an entire experiment can balance both technical and odontological demands and thus give practical and clinical important results. The need for an easy way of handling the evaluation to get all required information is another problem and of course the holographic equipment must be converted to a box easy to handle for everyone. At last the position of dental holography today is going to be carefully examined together with an attempt to look into the hopefully exciting and not to utopic future for this research field.
Full Text Available This study proposes virtual-reality (VR simulator system for double interventional cardiac catheterization (ICC using fractional-order vascular access tracker and haptic force producer. An endoscope or a catheter for diagnosis and surgery of cardiovascular disease has been commonly used in minimally invasive surgery. It needs specific skills and experiences for young surgeons or postgraduate year (PGY students to operate a Berman catheter and a pigtail catheter in the inside of the human body and requires avoiding damaging vessels. To improve the training in inserting catheters, a double-catheter mechanism is designed for the ICC procedures. A fractional-order vascular access tracker is used to trace the senior surgeons’ consoled trajectories and transmit the frictional feedback and visual feedback during the insertion of catheters. Based on the clinical feeling through the aortic arch, vein into the ventricle, or tortuous blood vessels, haptic force producer is used to mock the elasticity of the vessel wall using voice coil motors (VCMs. The VR establishment with surgeons’ consoled vessel trajectories and hand feeling is achieved, and the experimental results show the effectiveness for the double ICC procedures.
The effects of Danish cultural traditions on dental education in Denmark are described, as well as the system's current structure and developing issues. Some Danish ideas for future exports of dental education programs and dental personnel are also discussed.......The effects of Danish cultural traditions on dental education in Denmark are described, as well as the system's current structure and developing issues. Some Danish ideas for future exports of dental education programs and dental personnel are also discussed....
Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto
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...
Nagao, Ryohei; Matsumoto, Keigo; Narumi, Takuji; Tanikawa, Tomohiro; Hirose, Michitaka
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
Sánchez, Jaime; de Borba Campos, Marcia; Espinoza, Matías; Merabet, Lotfi B
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.
Tremblay, Line; Bouchard, Stephane; Chebbi, Brahim; Wei, Lai; Monthuy-Blanc, Johana; Boulanger, Dominic
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.
Hall, Kara L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Neidhard-Doll, Amy T
Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. The controller, based on an inverse three-element phenomenological model and adaptive nonlinear control, allows the system to operate as a type of haptic device. A human quadriceps dynamic simulator was developed (as described in Part I of this work) so that control effectiveness and accommodation could be tested prior to human implementation. Tracking error results indicate that the control system is effective at producing PMA displacement and resistance necessary for a scaled, simulated neuromuscular actuator to maintain low-velocity isokinetic movement during simulated concentric and eccentric knee extension.
Student advocacy and involvement in the political process is built into the structure of the American Student Dental Association (ASDA), especially in its Legislative Grassroots Network and an internal communication network among students to ensure political awareness. Students are concerned with such issues as a universally accepted, non-patient-based licensure process, mid-level providers, loan availability and tax deductibility, financial support for schools, and service early in one's professional career (giving forward rather than giving back). Through collaboration with the American Dental Education Association and with many state associations, students participate in lobbying, awareness campaigns, and behind the scenes as legislative aids. Although students share the same love for the profession that animates established practitioners, they are perceived by legislators as being different. Students are involved in the legislative process because it represents their future.
Full Text Available Background & Objectives: The use of dental implants in partially or completely edentulous patients has proved effective and an accepted treatment modality with predictable long-term success. Dental implants are becoming a popular choice for replacing the missing teeth because of increased awareness about implants both in dentists and patients. The objective of the study was to assess the basic knowledge and education about dental implants among general dental practitioners (GDPs of Nepal.Materials & Methods: A cross sectional questionnaire was carried out among 110 GDPs which consist of twenty questions that were divided into three categories; first with some basic knowledge in implant dentistry, second with clinical knowledge of dental implants and third with dental implant education and training.Results: Out of 110 GDPs, 72.7% had basic knowledge about implant dentistry and 65.5% were not aware about advance surgical procedures like sinus lift and guided bone regeneration. All the GDPs were positive regarding more training and education in dental implants and 95.5% of them would like to incorporate dental implant treatment in their practice in future. Conclusion: GDPs should have adequate knowledge and training of dental implants which can be incorporated at undergraduate or post doctoral level so that they are skilled to provide quality dental implant therapy to their patients confidently.
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
Pacchierotti, Claudio; Prattichizzo, Domenico; Kuchenbecker, Katherine J
Telerobotic systems enable humans to explore and manipulate remote environments for applications such as surgery and disaster response, but few such systems provide the operator with cutaneous feedback. This article presents a novel approach to remote cutaneous interaction; our method is compatible with any fingertip tactile sensor and any mechanical tactile display device, and it does not require a position/force or skin deformation model. Instead, it directly maps the sensed stimuli to the best possible input commands for the device's motors using a data set recorded with the tactile sensor inside the device. As a proof of concept, we considered a haptic system composed of a BioTac tactile sensor, in charge of measuring contact deformations, and a custom 3-DoF cutaneous device with a flat contact platform, in charge of applying deformations to the user's fingertip. To validate the proposed approach and discover its inherent tradeoffs, we carried out two remote tactile interaction experiments. The first one evaluated the error between the tactile sensations registered by the BioTac in a remote environment and the sensations created by the cutaneous device for six representative tactile interactions and 27 variations of the display algorithm. The normalized average errors in the best condition were 3.0 percent of the BioTac's full 12-bit scale. The second experiment evaluated human subjects' experiences for the same six remote interactions and eight algorithm variations. The average subjective rating for the best algorithm variation was 8.2 out of 10, where 10 is best.
Bar-Cohen, Y.; Mavroidis, C.; Bouzit, M.; Dolgin, B.; Harm, D. L.; Kopchok, G. E.; White, R.
There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.
Dental radiography must comply with the same regulations with which conventional radiography complies. Radiation doses to individual patients are low but, because of the large number of patients X-rayed, the collective dose to the population is not negligible. Care in siting and regular maintenance of the equipment will reduce doses to both staff and patients. To produce X-ray films with a good image quality using a low radiation dose requires attention to film processing; this is often a neglected area. (Author)
Özen, B.; Yönel, N.; Çetiner, S.
Dental erozyon, plak içermeyen diş yüzeyleri üzerinde içsel ve dışsal asitlerin veya şelatların etkileriyle oluşan kimyasal bir aşınmadır. İçsel ve/veya dışsal kaynaklar nedensel faktörler olarak tanımlanırken tükürük ve pelikıl gibi biyolojik faktörler, yeme ve içme alışkanlıkları ve ağız hijyeni
Merians, Alma S; Fluet, Gerard G; Qiu, Qinyin; Lafond, Ian; Adamovich, Sergei V
Robotic systems that are interfaced with virtual reality gaming and task simulations are increasingly being developed to provide repetitive intensive practice to promote increased compliance and facilitate better outcomes in rehabilitation post-stroke. A major development in the use of virtual environments (VEs) has been to incorporate tactile information and interaction forces into what was previously an essentially visual experience. Robots of varying complexity are being interfaced with more traditional virtual presentations to provide haptic feedback that enriches the sensory experience and adds physical task parameters. This provides forces that produce biomechanical and neuromuscular interactions with the VE that approximate real-world movement more accurately than visual-only VEs, simulating the weight and force found in upper extremity tasks. The purpose of this article is to present an overview of several systems that are commercially available for ambulation training and for training movement of the upper extremity. We will also report on the system that we have developed (NJIT-RAVR system) that incorporates motivating and challenging haptic feedback effects into VE simulations to facilitate motor recovery of the upper extremity post-stroke. The NJIT-RAVR system trains both the upper arm and the hand. The robotic arm acts as an interface between the participants and the VEs, enabling multiplanar movements against gravity in a three-dimensional workspace. The ultimate question is whether this medium can provide a motivating, challenging, gaming experience with dramatically decreased physical difficulty levels, which would allow for participation by an obese person and facilitate greater adherence to exercise regimes. © 2011 Diabetes Technology Society.
Antunes, Leonardo S; Veiga, Lais; Nery, Victor S; Nery, Caio C; Antunes, Lívia A
This cross-sectional study assessed the prevalence and potential risk factors for dental erosion in amateur athletes at running events. After a sample calculation, 108 runners from the state of Rio de Janeiro, Brazil, were selected and examined for dental wear by a single trained and calibrated evaluator (kappa = 1.00). To identify risk factors, the runners were interviewed by using a standardized, semi-structured questionnaire. The average (SD) age of the runners was 34.2 (11.45), and the prevalence of dental erosion was 19.4%. Gastroesophageal reflux, running frequency per week, and time expended during competition were associated with dental erosion (P dental erosion was not significant (P > 0.05). In conclusion, dental erosion was not associated with use of isotonic drinks. However, frequency of exercise per week and gastroesophageal reflux were risk factors for dental erosion.
Silva, M J; Alhowaish, L; Ghanim, A; Manton, D J
This was to investigate the perception of general dental practitioners (GDPs), specialist dentists and dental students regarding the prevalence, severity and aetiological factors of molar incisor hypomineralisation (MIH). Questionnaires were distributed to 407 general and specialist dentists who were members of the Saudi Dental Association and 222 fourth and fifth year dental students at College of Dentistry, King Saud University, Riyadh. The questionnaires investigated the perception and knowledge of MIH, including clinical experience, treatment, views on aetiology and need for further training in management of MIH. A total of 230 (56.5 %) dental practitioners and 149 (67.1 %) dental students completed the questionnaire. The majority of GDPs (76.9 %) and specialists (86.3 %) had encountered MIH in their practice. The majority of specialist dentists (56.1 %) and GDPs (60.4 %) reported that MIH could come second to dental caries as a public health concern. A range of possible aetiological factors were identified by both students and dentists with genetics the most common. The majority of GDPs (90.5 %) and specialists (72.4 %) reported a need for further training in MIH, in particular, regarding treatment. The majority of dental students (64 %) had not heard of MIH and most were in favour of including MIH-associated cases in the undergraduate curriculum of paediatric dentistry. Students were more likely to request training in diagnosis than treatment. MIH is a condition encountered by Saudi dentists who advocated the need for clinical training regarding MIH-aetiological and therapeutic fields. Students have little exposure to MIH and are likely to have similar concerns upon commencement of dental practice.
Civelek, Turhan; Ucar, Erdem; Ustunel, Hakan; Aydin, Mehmet Kemal
The current research aims to explore the effects of a haptic augmented simulation on students' achievement and their attitudes towards Physics in an immersive virtual reality environment (VRE). A quasi-experimental post-test design was employed utilizing experiment and control groups. The participants were 215 students from a K-12 school in…
van Mier, Hanneke I
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.
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
Overvliet, Krista E.; Krampe, Ralf Th
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
Turchet, Luca; Serafin, Stefania
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...
... 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...
Kuhne, Markus; Eschelbach, Martin; Aghaeifar, Ali
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...
Huang, Shih-Chieh Douglas
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…
Ellis, R R; Lederman, S J
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.
Kesner, Samuel B; Howe, Robert D
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.
Stramigioli, Stefano; Mahony, Robert; Corke, Peter
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
Oosterhout, J. van; Abbink, D.A.; Koning, J.F.; Boessenkool, H.; Wildenbeest, J.G.W.; Heemskerk, C.J.M.
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
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.
Elayaperumal, Santhi; Bae, Jung Hwa; Daniel, Bruce L; Cutkosky, Mark R
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).
Estevez Castillo, P.
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
Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto
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.
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
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.
Uhm, Chang-Ho; Nguyen, Phoung Bac; Choi, Seung-Bok
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.
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.