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Sustained attention is essential in the daily human activities of perception, manipulation, and locomotion. An improvement in sustained attention exhibits potential impacts in several scenarios, including the treatment of mental disorders, such as the attention-deficit/hyperactivity disorder, and the training of certain professionals, such as aircraft pilots, who work under environments with heavy...
It is a challenge to design a haptic device with a large workspace, high stiffness while maintain a good back drivability. In this paper, we present a large-scale haptic device iFeel6- BH1500, which is based on a cable-driven parallel mechanism and can achieve 6 dimensional force feedback by controlling the tension of eight cables. The components and working principle of the device is presented, followed...
Resolution is a key index in evaluating a haptic device. High resolution provides good performance for haptic device. In this paper, the resolution of iFeel6, a 6 degree of freedom (DOF) cable-driven haptic device, is analyzed. For the presented haptic device, the resolution is divided into translational resolution and rotational resolution. Each of them is defined in this paper. Then a method of...
A study on tank gunnery motor skill training is introduced in this paper. We developed a two-mode system used for teaching and training. In the haptic guidance mode, the trainee is passive and experiences position playback of the expert's motion with a proportional-derivation (PD) controller. In the path constraining mode, the trainee operates the haptic device actively, and the aiming point in the...
This paper presents a new exoskeleton with 4 degrees of freedom (DOF) for index finger rehabilitation. The device can generate bi-directional movement for all joints of the finger through cable transmission, which is required for passive and active trainings. With two prismatic kinematic joints in the design, it can accommodate to some extent variety of hand sizes. The kinematic relation between the...
Haptic rendering of complex scenes is becoming more and more important with the development of the virtual reality in surgical simulation. This paper studies the haptic rendering of the boundaries between tissues with different physical properties which is one of the common problems in complex scene simulation. Three indexes, boundary perceptibility, boundary force stability and plane height stability,...
Consistency between haptic display and visual display is an important requirement to construct high fidelity virtual reality systems. Spatial registration method for accurate collocated haptic-visual display based on half-silvered mirror is proposed in this paper. The registration accuracy is defined to be the distance between the virtual avatar and the haptic interface point with regard to the human...
Grasp planning is one of key issues for robotic dexterous hands to accomplish the desired tasks; this paper describes the implementation of grasp planning for robotic dexterous hands. Human grasp strategy is learned through master-slave manipulation, Human hand and robot hand operate as the master and the slave, respectively. A method of fingertip mapping is developed based on virtual fingers in Cartesian...
Virtual environment (VE) is a prime component in haptic interaction system. Traditional passive VE is not suitable to model human-machine interaction intelligence in haptic system such as a virtual tug-of-war system. Novel taxonomy of virtual environment is proposed according to different interaction tasks in physical world. Based on the difference between passive and active VE, intelligent VE is...
Virtual environment (VE) is a prime component in haptic interaction system. Traditional passive VE is not suitable to model human-machine interaction intelligence in haptic system such as a virtual tug-of-war system. Novel taxonomy of virtual environment is proposed according to different interaction tasks in physical world. Based on the difference between passive and active VE, intelligent VE is...
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