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Surgeries involving interaction with soft tissue like the brain need to minimize shear and normal forces that can cause tissue damage or hemorrhage. Other surgeries require the ability to follow a complex, curved path, such as through an intestine or to a kidney stone. This paper presents a soft catheter that has the potential to aid in these challenging cases. The soft catheter is capable of apical...
Wearable haptic feedback devices for virtual reality, human-robot interaction, and motion guidance require lightweight actuators that display clearly discernible cues to the user. These goals motivate the design of WRAP, a wearable, pneumatically actuated haptic feedback device. WRAP displays a variety of tactile sensations to the user by inflating a thermoplastic pneumatic actuator in direct contact...
Flywheel rotation provides a means for ungrounded kinesthetic (force) feedback, but devices that use a single flywheel to generate moment pulses inherently generate undesirable torque in directions orthogonal to the desired torque. We present a novel dual-flywheel gyro-moment haptic device capable of delivering short moment pulses about isolated axes in three-dimensional space. Rotating a single spinning...
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