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Previous works have presented solutions for stability problems arising from the difference between the sampling rate requirements for haptic devices (about 1 kHz) and the update rates of the physical objects being simulated (about 10 Hz). These methods work well when the objects are convex and non-deformable but, when the object is deformable, these methods might fail in obtaining realistic force...
The use of virtual and augmented reality techniques in medicine is rapidly increasing particularly in the area of minimal access surgery. Such surgery is a form of teleoperation in which accurate perception of depth and orientation, navigation, and interaction with the operative space are vital. Virtual and augmented reality techniques will allow us to produce new views of the operative site and introduce...
Applies the linear elastic finite element method to compute haptic force feedback and domain deformations of soft-tissue models for use in virtual reality simulators. Our results show that, for virtual object models of high-resolution 3D data (>10,000 nodes), haptic real-time computations (<500 Hz) are nor currently possible using traditional methods. Current research efforts are focused in...
Describes a psychophysical experiment designed to study the phenomenon of illusion which occurs with pseudo-haptic feedback, and to identify the moment when this illusion occurs: the "boundary of illusion". The subjects were given the task of deciding which of two virtual springs is the stiffer, these springs being simulated with a PHANToM/sup TM/ force feedback device and displayed on a...
Describes the design and implementation of an artificial force display for immersive projection displays (IPD) such as CAVE or CABIN. In order to give the user maximum freedom of motion in the large virtual space generated by an IPD, it is necessary to use a portable force display that is self-contained on the user's body. Therefore, we developed a wearable force display called HapticGEAR. It is a...
Force information is often required for tele-operation systems and virtual reality. Conventional force displays are active systems with actuators. This, however, is inherently active, so that it may become a danger. Consequently, passive force display is an effective method for assuring safety. The authors developed a brake using ER (electrorheological) fluid and passive force display using ER brakes...
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