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In this paper, we report a 3D-printed portable microindenter for measuring the mechanical properties of soft materials. The system is composed of three major components: (i) a Z-axis stage, (ii) a force-sensing indentation probe, and (iii) a data acquisition and control system. We construct most of the system parts (including the force sensing probe) by 3D printing, and perform mechanical design and...
In the design of haptic interface for minimally invasive surgery transparency is one of the key problems to treat especially when the workspace of the master is relative large. Large workspace tends to lead to high rather than low inertia. To get good transparency this paper describes an optimization method. With the method a novel haptic interface with large workspace, good manipulability, and good...
The end-point stiffness of haptic interface can significantly affect its performances such as the transparency and pose accuracy. As it is related to the joint flexibility, link compliance, control stiffness and the configuration, it is quite difficult to obtain its values. In this paper, a novel approach is presented. Based on the CAD model of the haptic master the end-point stiffness can be calculated...
Accurate reproduction of real human movement patterns is necessary in simulations of mobile ad hoc networks in order to obtain meaningful performance results. Human activities are often socially organized, resulting in a certain level of tendency of forming groups. There exists a few mobility models that are taking this tendency into account; however, all these models require a certain level of understanding...
Telesurgery systems integrate multimodal communication and robotic technologies to enable surgical procedures to be performed from remote locations. They allow human surgeons to intuitively control laparoscopic instruments and to navigate within the human body. In this paper, we present selected topics on multimodal interaction in the context of telesurgery applications. These are results from the...
In this paper a force modeling method for inhomogeneous materials is introduced. This modeling method is based on samples during haptic operations, for instance presses. Using biomimetic unsupervised learning, the model is primarily identified, including the distribution and material parameters of the inhomogeneous regions, and in this learning the parameter initial estimation, the principal component...
This paper describes a method and its implementation to create force models of deformable bodies for real time force simulation and force prediction. The force models are based on linear finite element models. The important parameters in the models are geometry and material parameters. Geometric modeling and parameter identification are necessary for this modeling method. For this purpose surface...
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