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ABSTRACT: This paper deals with the design and control of a haptic device to be used in a minimally invasive surgery simulator. Replicating haptic cues is of special interest since it is used in gesture motor control and important decision-making scenarios such as the discrimination of healthy versus abnormal tissues, identification of organs, etc. The structure of this new device is based on real motions of the tool during practical use in real procedures. The device is designed to provide high force and torque capability. For a better touch feedback part of the surgical tool is kept to be the grasper (i.e. the handle) of the haptic interface. The motorized part provides force-feedback and consists of a hybrid configuration (parallel-serial) which allows combining a relatively high stiffness and large workspace. The design and dimensioning procedure of the actuators and the workspace are performed using a database of measurement recorded during in-vivo minimally invasive surgeries. The kinematics -forward and inverse- model is formulated explicitly by using analytical methods. The resulted device is evaluated experimentally and compared with some commercially available devices.
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on; 08/2009
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ABSTRACT: Controlling a virtual vehicle is a sensory-motor activity with a specific rendering methodology that depends on the hardware technology and the software in use. We propose a method that computes haptic feedback for the steering wheel. It is best suited for low-cost, fixed-base driving simulators but can be ported to any driving simulator platform. The goal of our method is twofold. 1) It provides an efficient yet simple algorithm to model the steering mechanism using a quadri-polar representation. 2) This model is used to compute the haptic feedback on top of which a tunable haptic augmentation is adjusted to overcome the lack of presence and the unavoidable simulation loop latencies. This algorithm helps the driver to laterally control the virtual vehicle. We also discuss the experimental results that demonstrate the usefulness of our haptic feedback method.
IEEE Transactions on Vehicular Technology 06/2009; · 1.92 Impact Factor
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ARTIFICIAL MUSCLE ACTUATORS USING ELECTROACTIVE POLYMERS; 01/2009
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ABSTRACT: This paper presents a theoretical and experimental study of a model describing the heat exchange between a fingertip and any given touched object. This model is solved and implemented on a thermal display incorporated into a haptic device. Thermal feedback can assist in object identification, representation or in the creation of a complete haptic signature of a given object. Alternatively, thermal feedback could be used as a sensory substitute or adjunct for visual or tactile feedback. Experimental results validating the proposed thermal model are evaluated when touching virtual objects in virtual environments.
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on; 10/2008
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ABSTRACT: This paper presents a driving simulation whose aim is twofold: (1) to investigate the possibility of reducing motion clearance to achieve compact and low-cost driving simulators and (2) to evaluate multimodal and immersive virtual reality motion restitution in platooning driving. The choice has been made for a driving simulator having at least two degrees of freedom (DOF). These consist of the longitudinal displacement and seat rotations. The simulator is also equipped with a force feedback steering wheel for virtual drive assistance. These components are gathered on a serial kinematics-type platform to facilitate a control scheme and avoid the architecture complexity. A comparative study was made to devise a motion cueing strategy, taking into account both the psychophysical and technological constraints. Experimentations were carried out for several case combinations of the longitudinal displacement and seat rotations.
IEEE Transactions on Vehicular Technology 04/2008; · 1.92 Impact Factor
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ABSTRACT: This work deals with the modeling and identification of thermoelectric modules. We propose models for both steady-state and unsteady-state dynamics based on recursive ARMA models for temperature and heat flux. The proposed models are convenient for simulation, control, electronic, and thermal engineers. They also help understanding the functionality of the heat pumps, and facilitate the solving of cooling/heating problems without the need for expertise in thermal engineering. The effectiveness of the models and the synthesized controller are assessed by simulation and experimentally.
Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE; 12/2007
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ABSTRACT: In this paper, we propose several texture rendering techniques. For each of them, texture data is either taken from images of real textures or generated thanks to our texture generator. Thus, the first part of this paper addresses the identification of the main characteristics of stochastic and periodic textures. It also describes how our texture generator works and how 2D textures may be built using the previous characteristics. The second part of this paper deals with the possibility of rendering texture data. We first show how the elevation map may be used to render texture forces using the model in position. Then, we describe how stochastic and periodic texture profiles may be generated thanks to pseudo real-time force computation using the model in force.
Haptic, Audio and Visual Environments and Games, 2007. HAVE 2007. IEEE International Workshop on; 11/2007
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ABSTRACT: In 2005, we introduced in HAVE 2005 a new record-and-replay haptic method for teaching purpose. The presented algorithm is a combination of three steps: a guiding stage, an attracting stage and a constraining stage. The benefit of this method is to avoid a dependence and a passivity from the student on the teacher, while providing enough haptic cues to perform correctly the task. We present in this paper a thorough evaluation of the algorithm using our simulation of 3D mazes. By performing 3 tests, our method is evaluated against a single use of any of the 3 stage methodologies, comparing the learning reminiscence for each of them. Results show that the three-steps method offers a good compromise between training time and path learning effectiveness. Possible extensions for the conception of an automated teacher are eventually discussed.
Haptic, Audio and Visual Environments and Games, 2007. HAVE 2007. IEEE International Workshop on; 11/2007
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ABSTRACT: This paper deals with the problem of transparency (or fidelity) in force feedback systems or more particularly for haptics simulation under time delay transmission. The haptics rendering transparency is all the more difficult in distributed collaboration between distant users because it is necessary also to make feel faithfully the mutual interactions. The idea suggested in this article gives an original solution to overcome this lack of transparency in haptic shared collaborations on the network using a principle called the “Latency Envelope” (LE). One advantage of this implementation is the anticipation of the contact between users and virtual objects. The delay can then be partially or completely compensated from the open perception point of view. Also it does not affect at all the stability of haptics simulation (carried out using well known control laws).
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE; 11/2006
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ABSTRACT: This paper presents a haptic device that has been conceived to render both kinesthetic and thermal sensations computed from operator interaction with a 3D virtual environment. Computer simulation is based on a precise modeling algorithm of the thermal exchange between a bare finger and an object. The rendering is based on a closed loop control of both temperature and thermal flow signals. Each module composing the overall device and the rendering process are thoroughly described. We show that the whole system exhibits good technical performances in 3D multimodal interactive simulation
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on; 06/2006
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PROCEEDINGS OF THE SOCIETY OF PHOTO-OPTICAL INSTRUMENTATION ENGINEERS (SPIE)PROCEEDINGS OF THE SOCIETY OF PHOTO-OPTICAL INSTRUMENTATION ENGINEERS (SPIE); 01/2006
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ABSTRACT: This paper introduces a new method for virtual reality teaching and its implementation into the I-TOUCH framework. From a thorough analysis of previous works dealing with virtual training, we developed a four steps method to be used for teaching and training. The I-TOUCH framework has been designed in order to quickly prototype computer haptic research and subsequently generate actual industry interactive simulations. Adding a progressively adapting guidance software module, the software can also be used to teach and train people on skill manipulation, where the use of haptic feedback increases learning. Thus, we decided to conceive a replay mode where four different haptic displays were possible: from total guidance, through more or less haptic correction of the user gesture, to a simple visual mode, where the ideal motion is visually displayed.
Haptic Audio Visual Environments and their Applications, 2005. IEEE International Workshop on; 11/2005
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ABSTRACT: This paper presents a new method and formalism to achieve thermal feedback for teleoperation and telepresence applications. The basic idea is to realize an approach similar to force reflecting telerobotics. That is to say, bilateral coupling between thermal temperature and thermal flux variables. Thermal properties and exchange during contact are modeled with their relating equations. Similarly to force feedback coupling, four potential controllers are possible; we implemented all of them using stable and linear control schemes. Experimental results show that some coupling are superior in terms of thermal transparency and stability. We used two Peltier heat pumps as thermal sources; the one serving as a thermal display while the other one is to play the role of a "robotic finger".
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on; 09/2005
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ABSTRACT: Simulations based on virtual reality techniques make often special arrangements for haptic rendering. In fact, in most cases, haptic rendering drives the design of the simulation engine. This work proposes alternative software architecture to handle multimodal and human centered interactive rendering with a particular emphasis for the computer haptics problem. Namely, the architecture allows handling both haptic devices requirements, in terms of high refresh rates, and physically-based simulations requirements, in terms of CPU time. The developed I-TOUCH framework is designed to address these issues; in the meantime, it provides an open architecture and powerful tools to benchmark robustness of subsequent algorithms. All undergoing developments are being tested with actual industry virtual prototyping scenarios, the complexity of some of which highlights the extent of the fundamental problems to overcome.
Robotics and Automation, 2004. TExCRA '04. First IEEE Technical Exhibition Based Conference on; 12/2004
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Intelligent Mechatronics and Automation, 2004. Proceedings. 2004 International Conference on; 02/2004
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ABSTRACT: This paper extends earlier results on stable haptic and force feedback interaction in the presence of constant and varying time-delay. Although the paper focuses on virtual environment (VE) based haptics, results can also apply to teleoperation. The proposed method considers extending our preliminary work where Smith prediction principle has been adapted on delayed haptic feedback interaction. We shall show that this proposed approach is easy to implement and is original since it investigates another way to formulate stable haptic feedback algorithms. It requires to know only the model of the master interface or the haptic display. Stability and robustness analysis are thoroughly discussed. Experimental results and comparison with wave variables are discussed.
Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on; 02/2002
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ABSTRACT: This paper extends earlier results of wave based approach for stable force reflecting systems in the presence of the transmission delay (constant or variable). Theoretically, stability of the whole system is kept for any time delay, but degradation performance increases proportionally with a large delays. In this paper, we propose a new control scheme that is also based on wave variables, but minimizes the degradation performance due to large constant time delay, the time varying delay case is also discussed. The proposed method uses a modified Smith prediction is simple and easy to implement.
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on; 02/2002
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ABSTRACT: The study presents preliminary technical results (i.e. without
human factor studies), concerning the integration of the haptic
interaction modality on a static (i.e. fixed) vehicle cabin.
Traditionally the cabin is mounted on a 6 or less degree of freedom
robotic platform to make movements perceivable by the operator. We are
investigating the actual limitations in terms of simulator functionality
and human factors when using simple basic solutions
Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on; 02/2001
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ABSTRACT: This paper describes a multilevel bandwidth haptic display devoted to fundamental studies on tactile and kinesthetic interaction. The proposed concept is an alternative design based on a multistage dis-play that combines several actuation technologies in order to reproduce stable and "factual" haptic sensation for a truthful sense of presence. Each layer concerns a specific bandwidth that is to be determined ac-cording to the dedicated technology and the psychophysical data.
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ABSTRACT: This paper addresses the stability of time-delayed force-reecting displays used in human-in-the-loop virtual reality interactive systems. A somehow predictive, but novel haptic-device model-based approach is proposed. The developed solution is stable and robust, and does not require either the estimation of time delay or any knowledge on its behavior. It applies without any change to constant or causal time-varying delays. E¤orts has been focused to simple developments in order to make the approach easy to implement in commercial haptic libraries and interface build-in controllers. Although this study focuses on virtual environments haptics, it can be easily spreaded to teleoperation 1 . Obtained results are presented and discussed. Keywords Virtual environment haptics, Varying time delayed control, stability and robustness.
