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We consider the following problem in haptics: information update from the virtual world is slow w.r.t. the local servo-loop rate of the haptic device, and the information transmission/update between the haptic device and the virtual world is of variable rate and/or asynchronous. For this, we propose a novel control framework, that, by relying on our recently proposed passive set-position modulation...
In this paper, maneuverability measure of master control devices considering the musculo-skeletal model of operators is proposed. The original maneuverability measure of master arms considering the operator dynamics is extended by introducing a muscle tension space instead of the joint torque space of an operator so that the maneuverability is evaluated under a constant muscle stress condition which...
This study compares the Weber fraction for human perception of stiffness among three conditions: vision, proprioceptive motion feedback, and their combination. To make comparisons between these feedback conditions, a novel haptic device was designed that senses the spring behavior through encoder and force measurements, and implements a controller to render linear virtual springs so that the stimuli...
Humans significantly vary the impedance of their limbs during many manipulation tasks and during interaction with their environment. Humans vary their impedance to reduce contact forces, to increase positional control, and to stabilize unstable dynamics. The neuromuscular system modulates overall limb impedance by strategically selecting appropriate limb configurations and by selective activation...
This paper presents a new design of haptic device which combines the spherical parallel structure with the serial link configuration. The spherical configuration offers 3DOF for the positioning its platform where a 3DOF serial link is connected. The moving platform is connected to the ground through a passive and active spherical joint configuration. As such, the passive joint can contribute in supporting...
Simplified soft tissue models used in surgical simulations cannot perfectly reproduce all material behaviors. In particular, many tissues exhibit the Poynting effect, which results in normal forces during shearing of tissue and is only observed in nonlinear elastic material models. In order to investigate and quantify the role of the Poynting effect on material discrimination, we performed a multi-dimensional...
Haptic interfaces have been used as a surrogate for many real world applications such as rehabilitation, calligraphy, design and surgical training. While development of haptically enabled systems are opening new avenues in training, very few studies have explored if they provide realistic and matching muscle activations compared to real world activities. In this paper a novel methodology based on...
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