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A Proposal for a Real-time Task Supporting System in the Real Environment through Force Feedback
Abstract
The previous researches on augmented reality have been mainly focused on augmentation of visual or acoustic information. However, the human could get information not only through vision and acoustics, but also through haptics. The haptic sensation is very intuitive hence some researchers are focus on using haptic sensation in an augmented reality system. In these researches, the haptic sensation is generated based on static data such as generated from CAD, CT, etc. However, these systems are hard to respond to changing real environment in a real time. In this paper, we propose a new concept for the augmented reality of haptics, the SmartTool. The SmartTool could respond to the real environment by using real time sensors and a haptic display. The sensors on the SmartTool measure the real environment then send us that information through our haptic sensation. Furthermore, we will describe about the prototype system we have developed.
Tracheal Intubation is a medical procedure in which a tube is placed into the trachea, through the mouth, to help breathing. Normally, intubation is facilitated by using a laryngoscope, and this skill is very important for an emergency practitioner to master. However, it is not easy to learn this skill because it is hard for learners to understand the way of manipulating the laryngoscope only with verbal and gestural instructions from an instructor while they train this procedure. To assist this learning process, we propose a new haptic display called Outer-Covering Haptic Display (OCHD) which covers learner's hand and applies haptic sensation to the outside of the learner's hand holding the laryngoscope. OCHD is controlled by the instructor using master-slave method so that the learner's hand movement is guided as if it is accompanied by the instructor's hand. Our preliminary experiment showed that the OCHD has a possibility to guide the learners hand with less drive force compared to the case that the laryngoscope is directly operated.
We developed a multi-user Mixed Reality (MR) attraction "Watch the Birdie!" as a test bed of an MR system with new modalities such as Audio-Visual MR and a sound event detection technique. In this attraction, users can find the approaching birds not only by CG but also by the loudness and direction of the chirp sounds from a three-dimensional sound field system. Users can also interact with birds by using sound direction and position. The sound detection system can localize the position of the sound source made by each user, with one pair of microphone array. Additionally, in this attraction, there are other functions that bush rustles when the birds appear from there and a user can feel the weight of the bird when it perches on his/her hand.
Traffic accidents are big problems in our lives. Most causes of traffic accidents are because of human mistakes. The process of driving consists of three parts: recognition, judgment, and operation. Especially, 70% of the traffic accidents caused by human are recognition mistakes. Therefore, this paper proposes the haptic pedal system to transmit the road condition to the driver. This system assists the driver's braking operation to suppress the wheel slip. In order to convert the brake pedal into haptic pedal, sliding mode controller is applied. Simulation and experiment were conducted to show the validity of the proposed system.
sensation through electrical stimulation. Thus, the wearer not only can make physical contact with the object, but also "touch" surface information of any modality, even those that are ordinarily non-touchable. The prototype of SmartTouch is composed of two layers. The top layer has a 4 by 4 array of stimulating electrodes on the front side of a thin plate, while the bottom layer has optical sensors on the reverse side of the plate. Visual images captured by the sensor are translated into tactile information, and displayed through electrical stimulation. We endeavored to realize the perception of luminance information as the unevenness of the object surface, by imitating the sensory nerve activity with electrical pulses. For example, the black and white stripes are perceived as bumps of the same interval.
A higher sense of presence and interaction capability may be provided to a user when adopting 3D stereoscopic visualization compared to 2D viewing. Depth perception and task performance may however greatly vary for different display technologies, while available budget and application context constraint system design and approach selection. This work intends to contribute in assessing benefits of stereoscopic viewing for different virtual reality (VR) technologies. The investigation is performed under different conditions and it uses both synthetic and real images. The investigation concentrates on few aspects: comparative evaluation of VR facilities, the influence of selective visual attention on robot tele-drive, performance in collision avoidance and distance estimation. Results from a set of test trials run on 3 different VR facilities in 5 different configurations, emphasize some tendencies and represent a base for further investigations.
This paper describes the PHANTOM haptic interface - a device which measures a user's finger tip position and exerts a precisely controlled force vector on the finger tip. The device has enabled users to interact with and feel a wide variety of virtual objects and will be used for control of remote manipulators. This paper discusses the design rationale, novel kinematics and mechanics of the PHANTOM. A brief description of the programming of basic shape elements and contact interactions is also given.
Practically all of the exogenous photosensitizers used for clinical photodynamic therapy (PDT) target mainly vasculature. Although effective in tumor destruction, they also, unavoidably, induce phototoxicity of normal tissues. Porphyrins synthesized endogenously from 5-aminolevulinic acid (ALA) accumulate within cells. Tumor eradication would be more efficient if both cellular components and vascular stroma of a tumor could be targeted. Thus, PDT with a mixture of ALA and Photofrin (Pf, a vessel-targeted sensitizer) may simultaneously destroy the two elements. Using chemical extraction assays, pharmacokinetics of ALA and ALA-induced porphyrins were studied in the plasma and tumors of nude mice bearing human WiDr and KM20L2 colonic carcinomas after an i.p. injection of 250 mg/kg body weight of ALA. Subsequently, PDT efficacy of the two tumor models with ALA, Pf, or with the two drugs in combination was evaluated. The phototoxic effects on tumor cells in vitro with the combined drugs was also determined. Moreover, histological and ultrastructural alterations of the treated tumors were investigated, and tumor cell clonogenicity was assessed as a function of time after in vivo PDT using an in vitro colony formation assay. Finally, the photosensitivity of normal skin tissue treated according to various protocols was compared. The amounts of ALA peaked at 0.5 h after administration in both plasma and WiDr tumor. The rates of ALA clearance seemed to follow a one-compartment model with half-lives of approximately 18 and 58 min in the plasma and tumor, respectively. About 100 and 60 times higher concentrations of ALA were needed to induce a given concentration of porphyrins in the plasma and tumor, respectively, although the plasma porphyrins may not only be released from blood cells but also from other organs. Similar kinetics of distribution patterns of ALA- and ALA methylester-induced porphyrins were found in the plasma and tumors, and the elimination rates were consistent with a two-compartment model. ALA induced much more porphyrins than ALA methylester in both plasma and tumors. Tumors PDT-treated with ALA plus Pf at a low dose (1 mg/kg) grew significantly more slowly than those treated with either of the drugs in both WiDr and KM20L2 models. However, the enhanced antitumor effect was not found in the tumor cells under in vitro conditions. Morphological studies demonstrated that PDT with the combined regimen resulted in necrosis of neoplastic cells and severe disruption of tumor microvasculature. This was supported by the findings obtained from the studies of in vivo PDT and in vitro clonogenic assay that showed a progressive reduction in tumor cell viability with times following PDT. Such a combined PDT protocol did not induce any phototoxicity in normal skin tissue. These data indicate that targeting both neoplastic cells and stroma with ALA and Pf (a low dose) can potentiate antitumor PDT effect with no risk of prolonged skin photosensitivity.
This paper surveys the current state-of-the-art in Augmented Reality. It describes work performed at many different sites and explains the issues and problems encountered when building Augmented Reality systems. It summarizes the tradeoffs and approaches taken so far to overcome these problems and speculates on future directions that deserve exploration. This paper does not present new research results. The contribution comes from consolidating existing information from many sources and publishing an extensive bibliography of papers in this field. While several other introductory papers have been written on this subject [Barfield95] [Bowskill95] [Caudell94] [Drascic93b] [Feiner94a] [Feiner94b] [Milgram94b] [Rolland94], this survey is more comprehensive and up-to-date. For anyone interested in starting research in this area, this survey should provide a good starting point. Section 1 describes what Augmented Reality is and the motivations for developing this technology. Four classes of potential applications that have been explored are described in Section 2. Then Section 3 discusses the issues involved in building an Augmented Reality system. Currently, two of the biggest problems are in registration and sensing, so those are the subjects of Sections 4 and 5. Finally, Section 6 describes some areas that require further work and research. 1.2 Definition
An interface for touching the interface. Conference Abstracts and Applications of SIGGRAPH
- Takuya