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This paper presents newly developed 4-degrees-of-freedom (4-DOF) haptic master associated with controllable magneto-rheological (MR) fluid for robot-assisted minimally invasive surgery (RMIS). In RMIS, the proposed master can be used as a haptic interface in order to restore sense of touch, including recovery of kinesthetic and kinetic information. By utilizing MR fluid, the proposed haptic master...
Recently, “haptic recording” is attracting attention. Haptic recording is the concept for recording and loading of human motions like as audio-visual information. Motion-copying system is the technology which reproduces human motion based on position and force information for this and the applications to various fields is expected. Training system is the important application of this system. For more...
This paper investigates haptic-enabled teleoperation of a base-excited hydraulic manipulator working under a wireless communication channel. The intended application is live power line maintenance. With respect to this application, three main challenges are recognized in the field: need for the force feedback, wireless communication between master and slave sites, and base excitation of the slave...
In this paper, a novel robotics-assisted rehabilitation framework is proposed for bilateral mirror-image therapy. For this purpose, a customized dual-user teleoperation architecture is designed incorporating Guidance Virtual Fixtures (GVFs) to deliver the appropriate therapeutic movements to the patient's impaired limb by providing an assist-as-needed treatment strategy. In addition, the therapist...
Current control strategies in physical human-robot interaction (pHRI) face some limitations: endpoint stiffness level is not directly measurable in typical haptic control situations and the bilateral nature of the interaction requires proper treatment of operator dynamics. These limitations have reduced current control approaches to estimation techniques based on correlated metrics, such as electromyographic...
In the medical field, several surgical simulators and training platforms have been developed to help novice surgeons improve their surgical skills, as well as perform preoperative planning. In this paper, a haptic platform for surgical needle insertion training gestures is presented. Instead of relying on active actuators, an alternative solution, consisting in passive brakes based on Electro-Rheological...
This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and inverse geometric models of the haptic interface are presented. The working space...
Reinforcement learning (RL) is a form of motor learning that robotic therapy devices could potentially manipulate to promote neurorehabilitation. We developed a system that requires trainees to use RL to learn a predefined target movement. The system provides higher rewards for movements that are more similar to the target movement. We also developed a novel algorithm that rewards trainees of different...
This paper reports the results of a pilot study with autistic children based on our recent work examining the potential of combining haptic and sonic exploration with a real painting as a tool for neurorehabilitation. The study consisted of seven children with autism exploring a painting enhanced with haptic and sound feedback. Audio-visual and kinematic data were collected to evaluate the participants'...
Since action and perception are tightly coupled and the dysfunction of one of the two channels necessary give rise to different degrees of impairment in the other, we believe that the recovery process would significantly benefit from training protocols able to evaluate and consistently recruit both motor aspects and proprioception concurrently. Therefore, we propose a novel assistive protocol for...
This paper describes an haptic system designed to vary the stiffness of three contact points in an independent and controllable fashion, by suitably regulating the inner pressure of three pneumatic tactile displays. At the same time, the contact forces exerted by the user are measured by six degree-of-freedom force sensors placed under each finger. This device might be profitably used in hand rehabilitation...
One of the most challenging problems during the design of bilateral teleoperation systems implemented over Wide Area Networks is to assure the stability and transparency in the presence of time varying communication delay between the master and the slave. In this work the influence of the delay and jitter on the passivity controller — passivity observer type stabilizers is analyzed. This control design...
To improve the imbalance surgery development of china's urban and rural areas, a real and effective teleoperation virtual surgery simulation system is studied. First, the telecommunication is designed based on the Client/Server mode, which used to transmit video, voice and files in a real-time. Then, virtual scene mapping of the actual operation and the remote operation is established based on the...
This paper presents a haptic assistant that enhances task performance and human-machine interaction via a gain-scheduled impedance controller. The assistance strategy proposed builds on decision-making studies and models first proposed in the field of cognitive science and combines these models with a gain-scheduled impedance control technique in order to enhance human machine interaction in a tracking...
When we touch a human body, the flesh yields to our touch and we feel a sensation of softness. In virtual training systems for medical procedures such as palpation, the display of softness at the fingertips is essential. This paper proposes a softness-display device using a flexible sheet, and we present the concept of softness display at multiple fingers by combining the developed softness-display...
In this paper, experimental studies of bilateral teleoperation control of a quadrotor system are presented. Not only position control but force control of a quadrotor system is regulated by forming a force controlled loop. The contact force is measured by a load cell mounted on the top of the quadrotor system. The sensed force is used for a haptic device as an operator feels the force. This configuration...
Video-games are effective and motivating tools in the rehabilitation of patients. This study presents a video-game based platform controlled by a haptic device for the rehabilitation of Neglect patients. Haptic structure, game engine, game design criteria and example games are presented in detail.
This paper presents an evaluation method of arm stiffness to show utility of the developed arm self-rehabilitation system. Purpose of this research is an improvement of the arm's physical function of patients with hemiplegia. Their arm character is high arm stiffness due to the strong paralysis. So, we aim that their arm stiffness will decrease after rehabilitation using our developed system. As mechanical...
In this work, we propose haptic-based bilateral tele-operation for quad-rotor vehicles by using Internet communication infrastructure. The idea is to introduce shared autonomy to increase remote operation and manipulation capacity of the vehicle in uncertain flying environments. The design couples ground and remote sites by position and velocity signals of the master haptic and slave quad-rotor vehicle...
We propose a new unified rendering interface — SenseViewer — that allows users to annotate and label visual, auditory and in particular haptic cues to medical images. This new interface may support pre-operation planning, surgical training and medical robot guidance better. Users can touch and feel virtual organs and tissues with haptics. The visual and auditory cues are helpful to define optimal...
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