The contribution of tangible and intangible feedback is compared for virtual tactile car Human-Machine Interfaces(HMI)design,to measure their performance both in static conditions and while driving.A subjectively cali...The contribution of tangible and intangible feedback is compared for virtual tactile car Human-Machine Interfaces(HMI)design,to measure their performance both in static conditions and while driving.A subjectively calibrated transparent glass provides tangible passive haptics,and visual cues are used to study sensory substitution based intangible interactions.The results show that the performance of the subjects was significantly improved in driving conditions as they interacted faster,more accurately and with a higher satisfaction.In addition,our findings highlight that the contribution of tangible systems is significantly lower in driving conditions,raising new questions about the nature of haptic modalities in the function of the context of use.This study provides additional knowledge about the influence of dynamic environments and external tasks on haptic perception.展开更多
Since the first design of tactile sensors was proposed by Harmon in 1982,tactile sensors have evolved through four key phases:industrial applications(1980s,basic pressure detection),miniaturization via MEMS(1990s),fle...Since the first design of tactile sensors was proposed by Harmon in 1982,tactile sensors have evolved through four key phases:industrial applications(1980s,basic pressure detection),miniaturization via MEMS(1990s),flexible electronics(2010s,stretchable materials),and intelligent systems(2020s-present,AI-driven multimodal sensing).With the innovation of material,processing techniques,and multimodal fusion of stimuli,the application of tactile sensors has been continuously expanding to a diversity of areas,including but not limited to medical care,aerospace,sports and intelligent robots.Currently,researchers are dedicated to develop tactile sensors with emerging mechanisms and structures,pursuing high-sensitivity,high-resolution,and multimodal characteristics and further constructing tactile systems which imitate and approach the performance of human organs.However,challenges in the combination between the theoretical research and the practical applications are still significant.There is a lack of comprehensive understanding in the state of the art of such knowledge transferring from academic work to technical products.Scaled-up production of laboratory materials faces fatal challenges like high costs,small scale,and inconsistent quality.Ambient factors,such as temperature,humidity,and electromagnetic interference,also impair signal reliability.Moreover,tactile sensors must operate across a wide pressure range(0.1 k Pa to several or even dozens of MPa)to meet diverse application needs.Meanwhile,the existing algorithms,data models and sensing systems commonly reveal insufficient precision as well as undesired robustness in data processing,and there is a realistic gap between the designed and the demanded system response speed.In this review,oriented by the design requirements of intelligent tactile sensing systems,we summarize the common sensing mechanisms,inspired structures,key performance,and optimizing strategies,followed by a brief overview of the recent advances in the perspectives of system integration and algorithm implementation,and the possible roadmap of future development of tactile sensors,providing a forward-looking as well as critical discussions in the future industrial applications of flexible tactile sensors.展开更多
To improve the accuracy and interactivity of soft tissue delormatlon simulation, a new plate spring model based on physics is proposed. The model is parameterized and thus can be adapted to simulate different organs. ...To improve the accuracy and interactivity of soft tissue delormatlon simulation, a new plate spring model based on physics is proposed. The model is parameterized and thus can be adapted to simulate different organs. Different soft tissues are modeled by changing the width, number of pieces, thickness, and length of a single plate spring. In this paper, the structural design, calcula- tion of soft tissue deformation and real-time feedback operations of our system are also introduced. To evaluate the feasibility of the system and validate the model, an experimental system of haptic in- teraction, in which users can use virtual hands to pull virtual brain tissues, is built using PHANTOM OMNI devices. Experimental results show that the proposed system is stable, accurate and promising for modeling instantaneous soft tissue deformation.展开更多
In this paper, we make a comparison of haptic control schemes （position-position and position-force control schemes） for two haptic teleoperation systems by QoE （quality of experience） assessment. One is a remote ...In this paper, we make a comparison of haptic control schemes （position-position and position-force control schemes） for two haptic teleoperation systems by QoE （quality of experience） assessment. One is a remote control system with haptic media and video. In the system, we can write characters by controlling a haptic interface device at a remote place with another haptic interface device while watching video. The other is a remote instruction system with haptic media, video and voice. By using the system, a teacher can actively write characters and teach a student how to write the characters. The student can also write characters actively, and the teacher can confirm how the student writes the characters. We investigate the influences of network delay on QoE for the two systems with the two haptic control schemes.展开更多
Background In virtual environments(VEs),users can explore a large virtual scene through the viewpoint operation of a head-mounted display(HMD)and movement gains combined with redirected walking technology.The existing...Background In virtual environments(VEs),users can explore a large virtual scene through the viewpoint operation of a head-mounted display(HMD)and movement gains combined with redirected walking technology.The existing redirection methods and viewpoint operations are effective in the horizontal direction;however,they cannot help participants experience immersion in the vertical direction.To improve the immersion of upslope walking,this study presents a virtual climbing system based on passive haptics.Methods This virtual climbing system uses the tactile feedback provided by sponges,a commonly used flexible material,to simulate the tactile sense of a user's soles.In addition,the visual stimulus of the HMD,the tactile feedback of the flexible material,and the operation of the user's walking in a VE combined with redirection technology are all adopted to enhance the user's perception in a VE.In the experiments,a physical space with a hard-flat floor and three types of sponges with thicknesses of 3,5,and 8cm were utilized.Results We recruited 40 volunteers to conduct these experiments,and the results showed that a thicker flexible material increases the difficulty for users to roam and walk within a certain range.Conclusion The virtual climbing system can enhance users'perception of upslope walking in a VE.展开更多
Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace,high payload demands,and the need for both coarse positioning and fine manipulation.Existing commercial systems o...Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace,high payload demands,and the need for both coarse positioning and fine manipulation.Existing commercial systems often lack structural consistency between master and slave devices,which leads to complex motion mapping and limited adaptability.This paper presents a modular isomorphic haptic master device and dual-mode control strategy tailored for these environments.Two reconfigurable versions(5-DOF and 6-DOF)were developed to match the task-specific slave arms.The system supports autonomous-to-manual switching,joint and end-effector mapping,and real-time haptic rendering.Simulations and experiments verified their performance in representative scenarios.The proposed solution addresses structural mismatches and control inflexibility through a scalable task-driven design for high-risk remote operations.展开更多
This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinae...This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.展开更多
In the realm of virtual reality(VR),haptic feedback is integral to enhance the immersive experience;yet,existing wearable devices predominantly rely on skin contact feedback,lacking options for compact and non-contact...In the realm of virtual reality(VR),haptic feedback is integral to enhance the immersive experience;yet,existing wearable devices predominantly rely on skin contact feedback,lacking options for compact and non-contact breeze-sense feedback.Herein,we propose a compact and non-contact working model piezoelectret actuator for providing a gentle and safe breeze sensation.This easy-fabricated and flexible breeze-sense generator with thickness around 1 mm generates air flow pressure up to~163 Pa,which is significantly sensed by human skin.In a typical demonstration,the breeze-sense generators array showcases its versatility by employing multiple coded modes for non-contact information transmitting.The thin thinness and good flexibility facilitate seamless integration with wearable VR setups,and the wearable arrays empower volunteers to precisely perceive the continuous and sudden breeze senses in the virtual environments.This work is expected to inspire developing new haptic feedback devices that play pivotal roles in human-machine interfaces for VR applications.展开更多
Compared with traditional open surgery,laparoscopic surgery significantly reduces bodily trauma,postoperative pain,and hospitalization duration.However,owing to the small size of incisions and the counterintuitive mot...Compared with traditional open surgery,laparoscopic surgery significantly reduces bodily trauma,postoperative pain,and hospitalization duration.However,owing to the small size of incisions and the counterintuitive motion of surgical tools,longer training cycles are required for surgeons to achieve fine operational skills.This paper presents a laparoscopic surgery simulator with haptic-feedback control(LSHC-6)that provides a reliable and cost-effective training alternative for surgeons.In addition to the structural diagram,kinematic analysis,and gravity compensation algorithm,a particle swarm optimization algorithm(PSO)is applied to optimize the structural parameters of the simulator by evaluating its workspace,global dexterity,and gravity compensation ability.A prototype system was developed and evaluated using two training experiments.The results demonstrate that the simulator exhibits good operational fluidity,workspace,and stable force output,effectively meeting the needs of laparoscopic surgical training.展开更多
Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment,micromanipulation,and noninvasive surgery inside the body.Untethered microrobot application...Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment,micromanipulation,and noninvasive surgery inside the body.Untethered microrobot applications can benefit from haptic technology and telecommunication,enabling telemedical micro-manipulation.Users can manipulate the microrobots with haptic feedback by interacting with the robot operating system remotely in such applications.Artificially created haptic forces based on wirelessly transmitted data and model-based guidance can aid human operators with haptic sensations while manipulating microrobots.The system presented here includes a haptic device and a magnetic tweezer system linked together using a network-based teleoperation method with motion models in fluids.The magnetic microrobots can be controlled remotely,and the haptic interactions with the remote environment can be felt in real time.A time-domain passivity controller is applied to overcome network delay and ensure stability of communication.This study develops and tests a motion model for microrobots and evaluates two image-based 3D tracking algorithms to improve tracking accuracy in various Newtonian fluids.Additionally,it demonstrates that microrobots can group together to transport multiple larger objects,move through microfluidic channels for detailed tasks,and use a novel method for disassembly,greatly expanding their range of use in microscale operations.Remote medical treatment in multiple locations,remote delivery of medication without the need for physical penetration of the skin,and remotely controlled cell manipulations are some of the possible uses of the proposed technology.展开更多
Background Haptic feedback plays a crucial role in virtual reality(VR)interaction,helping to improve the precision of user operation and enhancing the immersion of the user experience.Instrumental haptic feedback in v...Background Haptic feedback plays a crucial role in virtual reality(VR)interaction,helping to improve the precision of user operation and enhancing the immersion of the user experience.Instrumental haptic feedback in virtual environments is primarily realized using grounded force or vibration feedback devices.However,improvements are required in terms of the active space and feedback realism.Methods We propose a lightweight and flexible haptic feedback glove that can haptically render objects in VR environments via kinesthetic and vibration feedback,thereby enabling users to enjoy a rich virtual piano-playing experience.The kinesthetic feedback of the glove relies on a cable-pulling mechanism that rotates the mechanism and pulls the two cables connected to it,thereby changing the amount of force generated to simulate the hardness or softness of the object.Vibration feedback is provided by small vibration motors embedded in the bottom of the fingertips of the glove.We designed a piano-playing scenario in the virtual environment and conducted user tests.The evaluation metrics were clarity,realism,enjoyment,and satisfaction.Results A total of 14 subjects participated in the test,and the results showed that our proposed glove scored significantly higher on the four evaluation metrics than the nofeedback and vibration feedback methods.Conclusions Our proposed glove significantly enhances the user experience when interacting with virtual objects.展开更多
This paper describes a virtual environment, which can present dynamic force transformation during the control of objects. A 5-DOF haptic interface with the capability to generate kinesthetic effect is combined. In thi...This paper describes a virtual environment, which can present dynamic force transformation during the control of objects. A 5-DOF haptic interface with the capability to generate kinesthetic effect is combined. In this system, the operator manipulates an object in a virtual environment by using the 5-DOF master arm. When contacting with the virtual object, the contact force can be calculated and shown in the graphic interface. The contact response and deformation of the virtual object, which are usually called haptic rendering, also can be performed. The study supplies an approach to improve the operator’s immersion and can be used in many tele-robot control fields.展开更多
This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping...This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.展开更多
This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and...This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.展开更多
With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual as...With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a7-DOF(degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments: gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface.展开更多
AIM:To evaluate the safety and efficacy of scleral-fixated 3-looped haptics intraocular lens(IOL)implantation for surgical management of microspherophakia.METHODS:A retrospective case series include 10 microspherophak...AIM:To evaluate the safety and efficacy of scleral-fixated 3-looped haptics intraocular lens(IOL)implantation for surgical management of microspherophakia.METHODS:A retrospective case series include 10 microspherophakic patients(15 eyes)who underwent lens removal plus a modified surgical treatment of scleral-fixated 3-looped haptics IOL implantation.The primary outcomes involved visual acuity,intraocular pressure(IOP).Secondary outcomes were spherical equivalent(SE),anterior chamber depth(ACD),corneal endothelial cell density and postoperative complications.RESULTS:After a postoperative follow-up of 17.60±15.44mo,improved visual outcomes can be observed.The uncorrected distance visual acuity(UCVA)log MAR improved from 1.54±0.59 preoperatively to 0.51±0.35 postoperatively(P=0.001),and best corrected visual acuity(BCVA)log MAR improved from 0.97±0.91 preoperatively to 0.24±0.23 postoperatively(P=0.003).Moreover,the SE decreased from-9.58±7.47D preoperatively to-0.65±2.21 D postoperatively(P<0.001).In terms of safety profile,the average IOP decreased from 21.10±12.94 mm Hg preoperatively to 14.03±3.57 mm Hg postoperatively(P=0.044),and the previously elevated IOP of three eyes decreased to the normal range.The ACD increased from 2.25±1.45 mm preoperatively to 3.35±0.39 mm postoperatively(P=0.017).The density of corneal endothelial cells did not change significantly after surgery(P=0.140).The posterior chamber IOLs were well centered and no severe complications were found.CONCLUSION:Lens removal plus the modified surgical treatment of scleral-fixated 3-looped haptics IOL implantation can help in improvement of visual acuity,which can be regarded as a relative safe method for the surgical management of microspherophakia.展开更多
Reducing energy consumption has become a matter of increasing concern for electric vehicle owners. EcoDriver is a project funded by the European Commission, searching for new eco-driving solutions for reducing energy ...Reducing energy consumption has become a matter of increasing concern for electric vehicle owners. EcoDriver is a project funded by the European Commission, searching for new eco-driving solutions for reducing energy consumption in private and public transport. EcoDriver’s main purpose is to teach efficient driving strategies and facilitate drivers’ decision-making processes through several feedback modalities, in order to help increase driving efficiency and therefore reduce energy consumption. In the present study, the Full ecoDriver System combined with a haptic feedback gas pedal was tested in real driving conditions to give answers to some questions about its effectiveness, efficiency, workload and acceptability in an electric vehicle. The sample profile was composed by thirty young but experienced drivers. They had to drive around an open road track which allowed several possible scenarios such as curves, intersection or roundabout, speed limit changes and preceding vehicles. Average speed was registered on each lap, likewise other subjective measurements. The main results suggest that the efficiency benefits achieved while driving depend on the event type and the feedback modality provided. For instance haptic feedback seems to be especially indicated for roundabouts. In addition, the visual feedback provided by the FeDS nomadic device helps to save energy and learn eco-driving strategies. These outcomes indicate how several feedback modalities could facilitate the decision making process, changing driving behaviour, reducing energy consumption and increasing safety. These questions would help advance further research on eco-driving Intelligent Transport Systems and driving behaviour issues.展开更多
Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of w...Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral signal communications between human and computer, and thus to greatly enhance the immersion and interaction of VR systems. This paper surveys the paradigm shift of haptic display occurred in the past 30 years, which is classified into three stages, including desktop haptics, surface haptics, and wearable haptics. The driving forces, key technologies and typical applications in each stage are critically reviewed. Toward the future high-fidelity VR interaction, research challenges are highlighted concerning handheld haptic device, multimodal haptic device, and high fidelity haptic rendering. In the end, the importance of understanding human haptic perception for designing effective haptic devices is addressed.展开更多
The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected hapt...The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected haptic deformation model based on physics is proposed for an excellent haptic rendering.During the modelling,the accumulation of relative displacements in every chain structure unit in each layer is equal to the deformation on the virtual object surface,and the resultant force of corresponding springs is equivalent to the external force.The layered rhombus-chain-connected model is convenient and fast to calculate,and can satisfy real-time requirement due to its simple nature.Simulation experiments in virtual human liver based on the proposed model are conducted,and the results demonstrate that our model provides stable and realistic haptic feeling in real time.Meanwhile,the display result is vivid.展开更多
·AIM:To evaluate the efficacy and stability of haptic sutured in-the-bag intraocular lens(IOL)in eyes with zonular instability.·METHODS:A total 60 eyes of 60 patients were included in this retrospective coho...·AIM:To evaluate the efficacy and stability of haptic sutured in-the-bag intraocular lens(IOL)in eyes with zonular instability.·METHODS:A total 60 eyes of 60 patients were included in this retrospective cohort study.Postoperative stability in three groups[haptic sutured IOL in the bag,IOL in the bag insertion with haptics oriented toward areas of zonulysis,IOL with capsular tension ring(CTR)in the bag insertion]were compared according to the IOL insertion methods.To evaluate the IOL stability,the changes of anterior chamber depth(ACD),refraction,contraction of anterior continuous curvilinear capsulotomy(CCC)area,and tilt of IOL were compared.·RESULTS:There was no significant difference in change of ACD(-0.04±0.01 mm in group of haptic sutured IOL,-0.07±0.01 mm in group of CTR insertion)and refraction(0.05±0.05 D in group of haptic sutured IOL,0.37±015 D in group of CTR insertion)between the group of haptic sutured IOL in the bag and CTR insertion group.But in comparison of CCC contraction and IOL tilt,CTR insertion group showed less contraction(1.00%±0.52%)and less IOL tilt(2.66°±0.11°)than the group of haptic sutured IOL in the bag(6.32%±1.36%,3.47°±0.11°,respectively).The CTR insertion group showed the least CCC contraction and the least tilt.·CONCLUSION:In eyes with zonular instability,the method of haptic sutured IOL in-the-bag shows comparable stability in ACD and refraction in comparison with IOL with CTR in the bag insertion.The method of IOL only in-thebag insertion shows the largest contraction of CCC and the largest tilt of IOL.展开更多
文摘The contribution of tangible and intangible feedback is compared for virtual tactile car Human-Machine Interfaces(HMI)design,to measure their performance both in static conditions and while driving.A subjectively calibrated transparent glass provides tangible passive haptics,and visual cues are used to study sensory substitution based intangible interactions.The results show that the performance of the subjects was significantly improved in driving conditions as they interacted faster,more accurately and with a higher satisfaction.In addition,our findings highlight that the contribution of tangible systems is significantly lower in driving conditions,raising new questions about the nature of haptic modalities in the function of the context of use.This study provides additional knowledge about the influence of dynamic environments and external tasks on haptic perception.
基金the financial support of the National Natural Science Foundation of China(NO.52173028)。
文摘Since the first design of tactile sensors was proposed by Harmon in 1982,tactile sensors have evolved through four key phases:industrial applications(1980s,basic pressure detection),miniaturization via MEMS(1990s),flexible electronics(2010s,stretchable materials),and intelligent systems(2020s-present,AI-driven multimodal sensing).With the innovation of material,processing techniques,and multimodal fusion of stimuli,the application of tactile sensors has been continuously expanding to a diversity of areas,including but not limited to medical care,aerospace,sports and intelligent robots.Currently,researchers are dedicated to develop tactile sensors with emerging mechanisms and structures,pursuing high-sensitivity,high-resolution,and multimodal characteristics and further constructing tactile systems which imitate and approach the performance of human organs.However,challenges in the combination between the theoretical research and the practical applications are still significant.There is a lack of comprehensive understanding in the state of the art of such knowledge transferring from academic work to technical products.Scaled-up production of laboratory materials faces fatal challenges like high costs,small scale,and inconsistent quality.Ambient factors,such as temperature,humidity,and electromagnetic interference,also impair signal reliability.Moreover,tactile sensors must operate across a wide pressure range(0.1 k Pa to several or even dozens of MPa)to meet diverse application needs.Meanwhile,the existing algorithms,data models and sensing systems commonly reveal insufficient precision as well as undesired robustness in data processing,and there is a realistic gap between the designed and the demanded system response speed.In this review,oriented by the design requirements of intelligent tactile sensing systems,we summarize the common sensing mechanisms,inspired structures,key performance,and optimizing strategies,followed by a brief overview of the recent advances in the perspectives of system integration and algorithm implementation,and the possible roadmap of future development of tactile sensors,providing a forward-looking as well as critical discussions in the future industrial applications of flexible tactile sensors.
基金Supported by the National High Technology Research and Development Programme of China(No.2013AA010803,2009AA01Z311,2009AA01Z314)the National Natural Science Foundation of China(No.61304205,61203316,61272379,61103086,41301037)+3 种基金the Natural Science Foundation of Jiangsu Province(BK20141002)the Open Funding Project of State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Jiangsu Ordinary University Science Research Project(No.13KJB120007)Innovation and Entrepreneurship Training Project of College Students(No.201410300153,201410300165)the Excellent Undergraduate Paper(design)Supporting Project of NUIST
文摘To improve the accuracy and interactivity of soft tissue delormatlon simulation, a new plate spring model based on physics is proposed. The model is parameterized and thus can be adapted to simulate different organs. Different soft tissues are modeled by changing the width, number of pieces, thickness, and length of a single plate spring. In this paper, the structural design, calcula- tion of soft tissue deformation and real-time feedback operations of our system are also introduced. To evaluate the feasibility of the system and validate the model, an experimental system of haptic in- teraction, in which users can use virtual hands to pull virtual brain tissues, is built using PHANTOM OMNI devices. Experimental results show that the proposed system is stable, accurate and promising for modeling instantaneous soft tissue deformation.
文摘In this paper, we make a comparison of haptic control schemes （position-position and position-force control schemes） for two haptic teleoperation systems by QoE （quality of experience） assessment. One is a remote control system with haptic media and video. In the system, we can write characters by controlling a haptic interface device at a remote place with another haptic interface device while watching video. The other is a remote instruction system with haptic media, video and voice. By using the system, a teacher can actively write characters and teach a student how to write the characters. The student can also write characters actively, and the teacher can confirm how the student writes the characters. We investigate the influences of network delay on QoE for the two systems with the two haptic control schemes.
基金the National Key R&D Program of China(2018YFB1404100)National Natural Science Foundation of China(62072405)Zhejiang Provincial Natural Science Foundation of China(LGF20F020017).
文摘Background In virtual environments(VEs),users can explore a large virtual scene through the viewpoint operation of a head-mounted display(HMD)and movement gains combined with redirected walking technology.The existing redirection methods and viewpoint operations are effective in the horizontal direction;however,they cannot help participants experience immersion in the vertical direction.To improve the immersion of upslope walking,this study presents a virtual climbing system based on passive haptics.Methods This virtual climbing system uses the tactile feedback provided by sponges,a commonly used flexible material,to simulate the tactile sense of a user's soles.In addition,the visual stimulus of the HMD,the tactile feedback of the flexible material,and the operation of the user's walking in a VE combined with redirection technology are all adopted to enhance the user's perception in a VE.In the experiments,a physical space with a hard-flat floor and three types of sponges with thicknesses of 3,5,and 8cm were utilized.Results We recruited 40 volunteers to conduct these experiments,and the results showed that a thicker flexible material increases the difficulty for users to roam and walk within a certain range.Conclusion The virtual climbing system can enhance users'perception of upslope walking in a VE.
基金Supported by National Key Research and Development Program of China(Grant No.2022YFE0112500).
文摘Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace,high payload demands,and the need for both coarse positioning and fine manipulation.Existing commercial systems often lack structural consistency between master and slave devices,which leads to complex motion mapping and limited adaptability.This paper presents a modular isomorphic haptic master device and dual-mode control strategy tailored for these environments.Two reconfigurable versions(5-DOF and 6-DOF)were developed to match the task-specific slave arms.The system supports autonomous-to-manual switching,joint and end-effector mapping,and real-time haptic rendering.Simulations and experiments verified their performance in representative scenarios.The proposed solution addresses structural mismatches and control inflexibility through a scalable task-driven design for high-risk remote operations.
基金CSIR research grant HCP-26 supported the work reported in this article.
文摘This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.
基金supported by the Science and Technology Development Fund of Macao SAR(File No.0117/2024/AMJ)University of Macao(MYRG-GRG2023-00041-FST-UMDF,MYRG-GRG2024-00121-FST,MYRG-CRG2024-00014-FST-ICI)Zhuhai UM Science&Technology Research Institute(CP-009-2024).
文摘In the realm of virtual reality(VR),haptic feedback is integral to enhance the immersive experience;yet,existing wearable devices predominantly rely on skin contact feedback,lacking options for compact and non-contact breeze-sense feedback.Herein,we propose a compact and non-contact working model piezoelectret actuator for providing a gentle and safe breeze sensation.This easy-fabricated and flexible breeze-sense generator with thickness around 1 mm generates air flow pressure up to~163 Pa,which is significantly sensed by human skin.In a typical demonstration,the breeze-sense generators array showcases its versatility by employing multiple coded modes for non-contact information transmitting.The thin thinness and good flexibility facilitate seamless integration with wearable VR setups,and the wearable arrays empower volunteers to precisely perceive the continuous and sudden breeze senses in the virtual environments.This work is expected to inspire developing new haptic feedback devices that play pivotal roles in human-machine interfaces for VR applications.
基金Supported by the National Key Research and Development Program of China(Grant No.2022YFB4500604)in part by the Natural Science Foundation of Guangdong Province,China(Grant No.2022A1515010100 and 2024A1515010140).
文摘Compared with traditional open surgery,laparoscopic surgery significantly reduces bodily trauma,postoperative pain,and hospitalization duration.However,owing to the small size of incisions and the counterintuitive motion of surgical tools,longer training cycles are required for surgeons to achieve fine operational skills.This paper presents a laparoscopic surgery simulator with haptic-feedback control(LSHC-6)that provides a reliable and cost-effective training alternative for surgeons.In addition to the structural diagram,kinematic analysis,and gravity compensation algorithm,a particle swarm optimization algorithm(PSO)is applied to optimize the structural parameters of the simulator by evaluating its workspace,global dexterity,and gravity compensation ability.A prototype system was developed and evaluated using two training experiments.The results demonstrate that the simulator exhibits good operational fluidity,workspace,and stable force output,effectively meeting the needs of laparoscopic surgical training.
基金supported by National Science Foundation Grant No.2123824.
文摘Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment,micromanipulation,and noninvasive surgery inside the body.Untethered microrobot applications can benefit from haptic technology and telecommunication,enabling telemedical micro-manipulation.Users can manipulate the microrobots with haptic feedback by interacting with the robot operating system remotely in such applications.Artificially created haptic forces based on wirelessly transmitted data and model-based guidance can aid human operators with haptic sensations while manipulating microrobots.The system presented here includes a haptic device and a magnetic tweezer system linked together using a network-based teleoperation method with motion models in fluids.The magnetic microrobots can be controlled remotely,and the haptic interactions with the remote environment can be felt in real time.A time-domain passivity controller is applied to overcome network delay and ensure stability of communication.This study develops and tests a motion model for microrobots and evaluates two image-based 3D tracking algorithms to improve tracking accuracy in various Newtonian fluids.Additionally,it demonstrates that microrobots can group together to transport multiple larger objects,move through microfluidic channels for detailed tasks,and use a novel method for disassembly,greatly expanding their range of use in microscale operations.Remote medical treatment in multiple locations,remote delivery of medication without the need for physical penetration of the skin,and remotely controlled cell manipulations are some of the possible uses of the proposed technology.
基金Supported by the Natienal Natural Science Foundation of China(U23A20287).
文摘Background Haptic feedback plays a crucial role in virtual reality(VR)interaction,helping to improve the precision of user operation and enhancing the immersion of the user experience.Instrumental haptic feedback in virtual environments is primarily realized using grounded force or vibration feedback devices.However,improvements are required in terms of the active space and feedback realism.Methods We propose a lightweight and flexible haptic feedback glove that can haptically render objects in VR environments via kinesthetic and vibration feedback,thereby enabling users to enjoy a rich virtual piano-playing experience.The kinesthetic feedback of the glove relies on a cable-pulling mechanism that rotates the mechanism and pulls the two cables connected to it,thereby changing the amount of force generated to simulate the hardness or softness of the object.Vibration feedback is provided by small vibration motors embedded in the bottom of the fingertips of the glove.We designed a piano-playing scenario in the virtual environment and conducted user tests.The evaluation metrics were clarity,realism,enjoyment,and satisfaction.Results A total of 14 subjects participated in the test,and the results showed that our proposed glove scored significantly higher on the four evaluation metrics than the nofeedback and vibration feedback methods.Conclusions Our proposed glove significantly enhances the user experience when interacting with virtual objects.
文摘This paper describes a virtual environment, which can present dynamic force transformation during the control of objects. A 5-DOF haptic interface with the capability to generate kinesthetic effect is combined. In this system, the operator manipulates an object in a virtual environment by using the 5-DOF master arm. When contacting with the virtual object, the contact force can be calculated and shown in the graphic interface. The contact response and deformation of the virtual object, which are usually called haptic rendering, also can be performed. The study supplies an approach to improve the operator’s immersion and can be used in many tele-robot control fields.
基金supported by the Open Research Fund of Key Laboratory of Space Utilization,Chinese Academy of Sciences(No.LSU-YKZX-2017-02)
文摘This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.
基金supported in part by the National Natural Science Foundation of China(61573099,61633003,61750110525,61903192)Fundamental Research Funds for the Central Universities(2242016R30011)+5 种基金Graduate Innovation Program of Jiangsu Province(KYLX15-0114)Scientific Research Foundation of Graduate School of Southeast University(YBJJ1561)Open Project Program of Ministry of EducationKey Laboratory of Measurement and Control of School of Computer Science and Engineering(CSE) MCCSE2017A01,MCCSE2019A01)Chinese Scholarship CouncilNewton Fund by the British Council
文摘This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.
基金supported by the National Natural Science Foundation(NNSF)of China(61533016,U1613210)the National High-tech Research and Development Program(863 Program)of China(2015AA042306)the Beijing Natural Science Foundation(4161001)
文摘With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a7-DOF(degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments: gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface.
文摘AIM:To evaluate the safety and efficacy of scleral-fixated 3-looped haptics intraocular lens(IOL)implantation for surgical management of microspherophakia.METHODS:A retrospective case series include 10 microspherophakic patients(15 eyes)who underwent lens removal plus a modified surgical treatment of scleral-fixated 3-looped haptics IOL implantation.The primary outcomes involved visual acuity,intraocular pressure(IOP).Secondary outcomes were spherical equivalent(SE),anterior chamber depth(ACD),corneal endothelial cell density and postoperative complications.RESULTS:After a postoperative follow-up of 17.60±15.44mo,improved visual outcomes can be observed.The uncorrected distance visual acuity(UCVA)log MAR improved from 1.54±0.59 preoperatively to 0.51±0.35 postoperatively(P=0.001),and best corrected visual acuity(BCVA)log MAR improved from 0.97±0.91 preoperatively to 0.24±0.23 postoperatively(P=0.003).Moreover,the SE decreased from-9.58±7.47D preoperatively to-0.65±2.21 D postoperatively(P<0.001).In terms of safety profile,the average IOP decreased from 21.10±12.94 mm Hg preoperatively to 14.03±3.57 mm Hg postoperatively(P=0.044),and the previously elevated IOP of three eyes decreased to the normal range.The ACD increased from 2.25±1.45 mm preoperatively to 3.35±0.39 mm postoperatively(P=0.017).The density of corneal endothelial cells did not change significantly after surgery(P=0.140).The posterior chamber IOLs were well centered and no severe complications were found.CONCLUSION:Lens removal plus the modified surgical treatment of scleral-fixated 3-looped haptics IOL implantation can help in improvement of visual acuity,which can be regarded as a relative safe method for the surgical management of microspherophakia.
文摘Reducing energy consumption has become a matter of increasing concern for electric vehicle owners. EcoDriver is a project funded by the European Commission, searching for new eco-driving solutions for reducing energy consumption in private and public transport. EcoDriver’s main purpose is to teach efficient driving strategies and facilitate drivers’ decision-making processes through several feedback modalities, in order to help increase driving efficiency and therefore reduce energy consumption. In the present study, the Full ecoDriver System combined with a haptic feedback gas pedal was tested in real driving conditions to give answers to some questions about its effectiveness, efficiency, workload and acceptability in an electric vehicle. The sample profile was composed by thirty young but experienced drivers. They had to drive around an open road track which allowed several possible scenarios such as curves, intersection or roundabout, speed limit changes and preceding vehicles. Average speed was registered on each lap, likewise other subjective measurements. The main results suggest that the efficiency benefits achieved while driving depend on the event type and the feedback modality provided. For instance haptic feedback seems to be especially indicated for roundabouts. In addition, the visual feedback provided by the FeDS nomadic device helps to save energy and learn eco-driving strategies. These outcomes indicate how several feedback modalities could facilitate the decision making process, changing driving behaviour, reducing energy consumption and increasing safety. These questions would help advance further research on eco-driving Intelligent Transport Systems and driving behaviour issues.
基金Supported by the National Key Research and Development Program(2017YFB1002803)the National Natural Science Foundation of China under the grants(61572055,61633004).
文摘Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral signal communications between human and computer, and thus to greatly enhance the immersion and interaction of VR systems. This paper surveys the paradigm shift of haptic display occurred in the past 30 years, which is classified into three stages, including desktop haptics, surface haptics, and wearable haptics. The driving forces, key technologies and typical applications in each stage are critically reviewed. Toward the future high-fidelity VR interaction, research challenges are highlighted concerning handheld haptic device, multimodal haptic device, and high fidelity haptic rendering. In the end, the importance of understanding human haptic perception for designing effective haptic devices is addressed.
基金Supported by the National High Technology Research and Development Programme of China(2013AA010803,2009AA01Z311,2009AA01Z314)the National Natural Science Foundation of China(61304205,61075068,61203316)+1 种基金the open funding project of State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Jiangsu Ordinary University Science Research Project(11KJB460006)Innovation and Entrepreneurship Training Project of College Students(201210300022,12CX023,201310300092)
文摘The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected haptic deformation model based on physics is proposed for an excellent haptic rendering.During the modelling,the accumulation of relative displacements in every chain structure unit in each layer is equal to the deformation on the virtual object surface,and the resultant force of corresponding springs is equivalent to the external force.The layered rhombus-chain-connected model is convenient and fast to calculate,and can satisfy real-time requirement due to its simple nature.Simulation experiments in virtual human liver based on the proposed model are conducted,and the results demonstrate that our model provides stable and realistic haptic feeling in real time.Meanwhile,the display result is vivid.
文摘·AIM:To evaluate the efficacy and stability of haptic sutured in-the-bag intraocular lens(IOL)in eyes with zonular instability.·METHODS:A total 60 eyes of 60 patients were included in this retrospective cohort study.Postoperative stability in three groups[haptic sutured IOL in the bag,IOL in the bag insertion with haptics oriented toward areas of zonulysis,IOL with capsular tension ring(CTR)in the bag insertion]were compared according to the IOL insertion methods.To evaluate the IOL stability,the changes of anterior chamber depth(ACD),refraction,contraction of anterior continuous curvilinear capsulotomy(CCC)area,and tilt of IOL were compared.·RESULTS:There was no significant difference in change of ACD(-0.04±0.01 mm in group of haptic sutured IOL,-0.07±0.01 mm in group of CTR insertion)and refraction(0.05±0.05 D in group of haptic sutured IOL,0.37±015 D in group of CTR insertion)between the group of haptic sutured IOL in the bag and CTR insertion group.But in comparison of CCC contraction and IOL tilt,CTR insertion group showed less contraction(1.00%±0.52%)and less IOL tilt(2.66°±0.11°)than the group of haptic sutured IOL in the bag(6.32%±1.36%,3.47°±0.11°,respectively).The CTR insertion group showed the least CCC contraction and the least tilt.·CONCLUSION:In eyes with zonular instability,the method of haptic sutured IOL in-the-bag shows comparable stability in ACD and refraction in comparison with IOL with CTR in the bag insertion.The method of IOL only in-thebag insertion shows the largest contraction of CCC and the largest tilt of IOL.
