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A robot that supports independent living by assisting with eating and other activities involving the use of the hand using the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. In this study, the proposed adaptive filter estimates tremor frequency with a time-varying property and individual differences online, and insulates the voluntary motion...
We present a tactile Respiratory Management System (tRMS) to manage and control breathing patterns of cancer patients undergoing radiation therapy. The system comprises of an array of small vibrating motors and a control box that supplies power to and provides a control interface for up to twelve motors through the parallel port of a standard personal computer. The vibrotactile array can be fastened...
Recent findings have shown that humans can adapt their internal control model to account for the changing dynamics of systems they manipulate. In this paper, we explore the effects of magnitude and phase cues on human motor adaptation. In our experiments, participants excite virtual second-order systems at resonance via a two-degree of freedom haptic interface, with visual and visual plus haptic feedback...
The proposed demonstration stems from research on a low cost haptic virtual interaction platform for upper-limb rehabilitation. This work centers on the use of vibrotactile feedback in a virtual environment to help stroke patients perform simple repetitive motions and thereby overcome motor planning deficits. The device to be demonstrated consists of a sleeve with embedded optical markers and vibration...
In the current world, by and large, computer interaction relies on visual and auditory feedback and to make interactions more realistic, tactile response would be essential e.g. for medical training simulations. Haptic interfaces would make the digital models to be probed and felt by the users and more specifically in a medical world by medical students, these simulations, also can reduce costs and...
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...
Suturing task is one of the apparently most common actions during any surgery, however this is a complex task since it involves precise force feedback with a needle and thread, interaction with deformable tissue and organs, puncturing and thread stretching. This is a type of complex constrained motion task due to at the piercing constraint points must be valid all time with a continuum thread. In...
In this work we present PhyNeSS - a novel physics-driven neural networks-based surgical simulation system which, for the first time, combines the complexity and accuracy of physics-based non-linear soft tissue models and commercial finite element codes with the high speed of execution of machine learned neural networks. While soft tissue is inherently nonlinear, physics-based simulation of nonlinear...
This paper explores the use of hypotrochoid curves as visual aids for haptic training systems that are used to teach motor skills that require recall of forces and positions at specific locations to replicate the expert touch. The visual aid presented is a multidimensional feedback tool that can provide information on force, position, and velocity simultaneously. The extent of learning is measured...
Different aspects of bone surgery simulation has been a popular topic in haptics research field. This demonstration paper has two major results: a free and open source software (FOSS) implementation of a well known algorithm for tool-bone interaction force estimation, and an evaluation conducted as part of a suggested User-centered design approach for creation of a surgery simulator targeting Oral...
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