Relevant bibliographies by topics / Phantom haptic device

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Phantom haptic device'

Author: Grafiati
Published: 4 June 2021
Last updated: 11 February 2022

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Journal articles on the topic "Phantom haptic device"

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Baser, Ozgur, and Erhan Ilhan Konukseven. "Kinematic Calibration of PHANTOM Premium 1.5/6DOF Haptic Device." Key Engineering Materials 486 (July 2011): 205–8. http://dx.doi.org/10.4028/www.scientific.net/kem.486.205.

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Precise positioning and precise force control requirement in haptic devices necessitate the calibration of the device. Since force control algorithms in haptic interfaces employ Jacobian matrix that includes kinematic model parameters, calibration is not only important for pose accuracy but also for force control. The deviation in kinematic parameters and joint transmission errors are main reasons disturbing the calibration of the haptic devices. Capstan drives and parallelogram mechanisms are preferred to use for actuation in haptic device design. Their transmission errors should be estimated in the calibration. This paper presents a simulation study including the estimation of kinematic parameters and transmission errors due to the capstan drives and parallelogram mechanism for a PHANTOM Premium haptic device.
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Hribar, Ales, Blaz Koritnik, and Marko Munih. "Phantom haptic device upgrade for use in fMRI." Medical & Biological Engineering & Computing 47, no. 6 (March 5, 2009): 677–84. http://dx.doi.org/10.1007/s11517-009-0462-z.

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Taati, Babak, Amir M. Tahmasebi, and Keyvan Hashtrudi-Zaad. "Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device." Presence: Teleoperators and Virtual Environments 17, no. 4 (August 1, 2008): 327–43. http://dx.doi.org/10.1162/pres.17.4.327.

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The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor.1 An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation.
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Baser, Ozgur, and E. Ilhan Konukseven. "Kinematic model calibration of a 7-DOF capstan-driven haptic device for pose and force control accuracy improvement." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 6 (September 13, 2012): 1328–40. http://dx.doi.org/10.1177/0954406212460150.

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The literature on kinematic calibration of industrial robots and haptic devices suggests that proper model calibration is indispensable for accurate pose estimation and precise force control. Despite the variety of studies in the literature, the effects of transmission errors on positioning accuracy or the enhancement of force control by kinematic calibration is not fully studied. In this article, an easy to implement kinematic calibration method is proposed for the systems having transmission errors. The presented method is assessed on a 7-DOF Phantom-like haptic device where transmission errors are inherently present due to the use of capstan drives. Simulation results on pose estimation accuracy and force control precision are backed up by experiments.
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Hribar, Ales, and Marko Munih. "Development and testing of fMRI-compatible haptic interface." Robotica 28, no. 2 (December 10, 2009): 259–65. http://dx.doi.org/10.1017/s0263574709990646.

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SUMMARYThis paper presents the development and testing of a haptic interface compatible with a functional magnetic resonance imaging (fMRI) environment for neuroscience human motor control studies. A carbon fiber extension enables us to use the widely accepted and available haptic device Phantom 1.5.In the first part of the paper development of the mechanical extension together with its kinematic and dynamic models are presented. The second part is focused on testing of the extended haptic interface. The experiment's results both inside and outside the fMRI environment are presented. Tests outside a scanner have shown that the mechanical extension has no notable effect on a subject performance. Experiments with the scanner have confirmed electromagnetic compatibility of the extended haptic system.At the end it is concluded that the extended haptic device is fully compatible with the fMRI environment, and a virtual environment task that will allow neuroscientists to study a human motor control is proposed.
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Shah, Faraz, and Ilia G. Polushin. "Design of Telerobotic Drilling Control System with Haptic Feedback." Journal of Control Science and Engineering 2013 (2013): 1–15. http://dx.doi.org/10.1155/2013/901610.

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The paper deals with the design of control algorithms for virtual reality based telerobotic system with haptic feedback that allows for the remote control of the vertical drilling operation. The human operator controls the vertical penetration velocity using a haptic device while simultaneously receiving the haptic feedback from the locally implemented virtual environment. The virtual environment is rendered as a virtual spring with stiffness updated based on the estimate of the stiffness of the rock currently being cut. Based on the existing mathematical models of drill string/drive systems and rock cutting/penetration process, a robust servo controller is designed which guarantees the tracking of the reference vertical penetration velocity of the drill bit. A scheme for on-line estimation of the rock intrinsic specific energy is implemented. Simulations of the proposed control and parameter estimation algorithms have been conducted; consequently, the overall telerobotic drilling system with a human operator controlling the process using PHANTOM Omni haptic device is tested experimentally, where the drilling process is simulated in real time in virtual environment.
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Li, Jia Lu, Ai Guo Song, and Xiao Rui Zhang. "Stability Analysis and Improvement of Virtual Wall Model." Key Engineering Materials 464 (January 2011): 183–86. http://dx.doi.org/10.4028/www.scientific.net/kem.464.183.

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Sampled-data system’s nature is the main factor that causes virtual wall to demonstrate active (non-passive) behavior, destroying the illusion of reality. To enhance the stability of haptic rendering by virtual wall model, a novel spring-impulse model based on energy conversation and momentum conversation is proposed. In the model, an impulse in the opposite direction of avatar’s velocity is exerted on avatar at the instant from inner of virtual wall back to balance position during unstable state. This resistant forces eliminate extra work to reduce the non-passive behaviors of the haptic system, which lead to improved realistic rigid perceptions and system stability. The experiments have verified the effectiveness of our spring-impulse method in a virtual stiff-wall prototype system via a Phantom Omni haptic device.
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Takada, Hiroshi, Norihiro Abe, Yoshimasa Kinosita, Hirokazu Taki, Tatsushi Tokuyasu, and Shoujie He. "Modeling and deforming a virtual dense elastic object with the haptic device PHANToM." Artificial Life and Robotics 14, no. 2 (November 2009): 150–53. http://dx.doi.org/10.1007/s10015-009-0643-8.

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Moreira, Pedro, Leanne Kuil, Pedro Dias, Ronald Borra, and Sarthak Misra. "Tele-Operated MRI-Guided Needle Insertion for Prostate Interventions." Journal of Medical Robotics Research 04, no. 01 (March 2019): 1842003. http://dx.doi.org/10.1142/s2424905x18420035.

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Prostate cancer is one of the leading causes of death in men. Prostate interventions using magnetic resonance imaging (MRI) benefits from high tissue contrast if compared to other imaging modalities. The Minimally Invasive Robotics In An MRI environment (MIRIAM) robot is an MRI-compatible system able to steer different types of needles towards a point of interest using MRI guidance. However, clinicians can be reluctant to give the robot total control of the intervention. This work integrates a haptic device in the MIRIAM system to allow input from the clinician during the insertion. A shared control architecture is achieved by letting the clinician control the insertion depth via the haptic device, while the robotic system controls the needle orientation. The clinician receives haptic feedback based on the insertion depth and tissue characteristics. Four control laws relating the motion of the master robot (haptic device) to the motion of the slave robot (MIRIAM robot) are presented and evaluated. Quantitative and qualitative results from 20 human subjects demonstrate that the squared-velocity control law is the most suitable option for our application. Additionally, a pre-operative target localization algorithm is presented in order to provide the robot with the target location. The target localization and reconstruction algorithm are validated in phantom and patient images with an average dice similarity coefficient (DSC) of 0.78. The complete system is validated through experiments by inserting a needle towards a target within the MRI scanner. Four human subjects perform the experiment achieving an average targeting error of 3.4[Formula: see text]mm.
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Suphama, Patharawut, and Ratchatin Chancharoen. "The Performance of a Delta Telerobot." Applied Mechanics and Materials 619 (August 2014): 236–41. http://dx.doi.org/10.4028/www.scientific.net/amm.619.236.

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The paper investigates the performance of a delta telerobot that a human operator works on a given task through the eye and hand of the robot. The Delta robot is installed with eye in hand camera and controlled by an open architecture controller that is configured to control the robot to follow the motion of the selectable HMI devices. The evaluation task is a three dimensional “connect the dot” game in which the robot is tele-operated with visual feedback to go point to point from position 1 to 6. The task performance is used to evaluate the performance of the total system that involves a robot, human factors, HMI, and environment. Three HMI devices including a manual pulse generator, Kinect camera, and a PHANToM OMNI Haptic Device are benchmarked. The result demonstrates that the Haptic with guided force is the best when compared to the others. In addition, the telerobot system can improve the time to completion by 30% and positioning accuracy by 50%, compared to human in the human scaled task. Then we investigate the effect of time delay of the delta telerobot with the Haptic. The result demonstrates that the time delay, that exceeds 100 ms, is proportion to both time to completion and positioning error in telerobot task, while the time delay below 100 ms gives no effect.
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Dissertations / Theses on the topic "Phantom haptic device"

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Olofsson, Martin, and Sebastian Öhman. "Networked Haptics." Thesis, KTH, Kommunikationssystem, CoS, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-91494.

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Haptic feedback is feedback relating to the sense of touch. Current research suggests that the use of haptic feedback could give an increase in speed and accuracy when doing certain tasks such as outlining organ contours in medical applications or even filling in spreadsheets. This master thesis project has two different goals concerning haptic feedback. The first is to try to improve the forces for the SensAble PHANTOM Omni® Haptic Device when used in an application to outline contours in medical images, to give the user better feedback. The PHANTOM Omni is a device able to read in user movement of an arm attached to it in three dimensions, but it is also able to output forces through this arm back to the user, i.e. giving haptic feedback. By improving these forces and thus providing better feedback, we hope that speed and accuracy increases for a user working with the mentioned application. The second part of the project consists of evaluating if delays in a network between the haptic feedback device and the place where the data sets are located impact the user perceived quality or the outcome of the task. We do this by considering a number of potential architectures for distributing the image processing and generation of haptic feedback. By considering both of these goals we hope to demonstrate both a way to get faster and more accurate results when doing the tasks already mentioned (and other tasks), but also to understand the limitations of haptic performance with regard to distributed processing. We have successfully fulfilled our first goal by introducing a haptic force which seems quite promising. This should mean that the people working with outlining contours in medical images can work more effectively; which is good both economically for hospitals and quality of service-wise for patients. Our results concerning the second goal indicate that a haptic system for outlining contour can work well when using this new haptic force, even on low quality data links (which can be used for example in battlefield medicine or by specialists to conduct long distance operations or examinations) -- if the system architecture distributes the functionality so as to provide low delay haptic feedback locally. We have tried to compare our results from the second part with a model for the impact of network delay on voice traffic quality developed by Cole and Rosenbluth, but as there is not necessarily a numeric correspondence between the quality values that we used and the ITU MOS quality values for voice we cannot make a numeric comparison between our results and that model. However our experimental data seem to suggest that the decrease in perceived quality was not as fast as one might expect considering simply the ratios of the voice packet rate (typically 50 Hz) and the 1000 Hz rate of the haptic feedback loop. The decrease in quality seems to only be about one half of what the ratio of these rates might suggest (i.e., a factor of 10x faster decrease in quality with increasing delay rather than 20x).
Haptisk återkoppling är återkoppling som fås genom känseln. Nutida forskning visar att användandet av sådan återkoppling kan öka effektiviteten vid vissa arbetsuppgifter inom sjukvård, till exempel vid förberedande uppgifter inom strålbehandling, men också vid kontorsarbete såsom att fylla i värden i ett kalkylark. Detta examensarbete har två mål som rör haptisk återkoppling. Det första är att försöka förbättra krafterna som ges från den haptiska enheten SensAble PHANTOM Omni® Haptic Device vid användning i ett medicinskt datorprogram rörande strålbehandling, i syfte att förbättra användareffektiviteten. PHANTOM Omni är en maskin som har en arm kopplad till sig som både kan läsa av rörelser och ge ut krafter med hjälp av en inbyggd motor, det vill säga ge haptisk återkoppling. Genom att förbättra dessa krafter och därigenom ge mer realistisk återkoppling hoppas vi att effektiviteten kan öka för en användare av det nämnda datorprogrammet. Det andra målet är att utvärdera hur fördröjningar i ett nätverk mellan den plats där enheten är placerad och den plats där informationen som ska bearbetas finns, påverkar upplevelsen för användaren och därmed resultatet av arbetet. Vi genomför detta genom att analysera flera olika tänkbara arkitekturer, där placeringen av bilddatat och uträkningen av krafter som ska ges ut av den haptiska enheten varierar. Genom att undersöka dessa två olika aspekter hoppas vi att vi både kan visa ett sätt att få snabbare och bättre resultat när man arbetar med uppgifter av den karaktären som redan beskrivits, men också att förstå begränsningarna för att använda haptisk återkoppling i distribuerade system. Vi har framgångsrikt lyckats uppfylla vårt första mål genom att utveckla en kraft till den haptiska enheten som verkar lovande. Om denna kraft funkar i praktiken innebär det att personer som arbetar med förberedande uppgifter inom strålbehandling kan göra dessa uppgifter effektivare vilket är positivt både ekonomiskt för sjukhusen och kvalitetsmässigt för patienterna. De resultat vi har fått fram avseende vårt andra mål indikerar att användandet av en haptisk enhet inom medicinsk bildbehandling kan fungera bra med vår nyutvecklade kraft, även på nätverkslänkar med dålig kvalitet (som kan vara fallet exempelvis när medicinska specialister utför undersökningar eller operationer på distans) – om systemet är uppbyggt så att den haptiska återkopplingen sker lokalt med en minimal fördröjning. Vi har försökt att jämföra våra resultat från nätverksdelen med en modell beskriven av Cole och Rosenbluth, som ger kvaliteten på rösttrafik som en funktion av fördröjningen i ett nätverk. Dock finns det inte nödvändigtvis någon korrelation mellan de värden vi har fått fram och den kvalitetsskala för rösttrafik som de använde. Vi kan därmed inte göra en jämförelse rakt av mellan våra resultat och deras modell. Däremot så pekar de data vi har fått i våra experiment på att den användarupplevda kvaliteten inte sänktes lika snabbt som man kunde ha väntat sig om man bara tar hänsyn till förhållandet mellan uppdateringsfrekvenserna för rösttrafik (vanligtvis 50 Hz) och den haptiska återkopplingen (1000 Hz). Kvalitetssänkningen verkar vara hälften av vad detta förhållande skulle kunna antyda (det vill säga en faktor på 10 gånger snabbare sänkning i kvalitet med ökande fördröjning snarare än 20 gånger).
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Bělín, Jan. "Interaktivní manipulace s 3D objekty se silovou zpětnou vazbou." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2009. http://www.nusl.cz/ntk/nusl-236678.

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Physical haptic interaction is added to the modern manipulation with objects in virtual space. In content of this master's thesis the haptic technology is represented by SensAble Phantom Omni device and OpenHaptics toolkit, which is related to the device. Reader is initially introduced into mathematical basics of manipulation and into haptic technology history including current state. The introduction into Openhaptics toolkit follows as well as HDAPI and HLAPI libraries description. As a result of this theoretical basics demo aplications have been created, that show basic and advanced abilities of the Phantom Omni device. Demos represent the functionality of the device as examples integrating well-known elementary physical laws and events.
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Parrott, Andrew Mark. "An Evaluation of Digital Methods in Reverse Engineering Using Selected Medical Applications." Thesis, 2006. http://hdl.handle.net/10539/1849.

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Student Number : 9710738R - MSc (Eng) dissertation - Faculty of Engineering and the Built Environment
This dissertation investigates the use of digital modeling methods for selected medical applications. The digital methods include the design of a cranial implant, auricular prosthesis and the duplication of an oral prosthesis. The digital process includes imaging, image processing, design and fabrication steps. Three types of imaging used are contact and non-contact measurement systems and CT scanning. The investigation uses a Phantom haptic device for digital design. The implants and prostheses are fabricated using a Thermojet printer and investment casting. Traditional and digital processes are compared using four case studies on selected criteria. The conclusions of the investigation are that a digital process can be used and is equal to or better than traditional methods in prosthesis and implant design.
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Book chapters on the topic "Phantom haptic device"

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Niijima, Arinobu, and Takefumi Ogawa. "A Study on Control of a Phantom Sensation by Visual Stimuli." In Haptics: Perception, Devices, Control, and Applications, 305–15. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-42321-0_28.

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Isaksson, Mats, Ben Horan, and Saeid Nahavandi. "Low-Cost 5-DOF Haptic Stylus Interaction Using Two Phantom Omni Devices." In Haptics: Neuroscience, Devices, Modeling, and Applications, 139–49. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44196-1_18.

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Wei, Wei. "Virtual Reality Enhanced Robotic Systems for Disability Rehabilitation." In Advances in Medical Technologies and Clinical Practice, 48–68. IGI Global, 2016. http://dx.doi.org/10.4018/978-1-4666-9740-9.ch004.

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This chapter mainly introduced the virtual reality as many benefits of robots involved in disability rehabilitation. According to the vision feedback and force feedback, the therapist can adjust his operation. Virtual reality technology can provide repeated practice, performance feedback and motivation techniques for rehabilitation training. Patients can learn motor skills in a virtual environment, and then transfer the skills to the real world. It is hopeful to achieve satisfactory outcome in the field of rehabilitation in the future. VR is mainly used for the upper-limb rehabilitation robot system in this article. The objective of robotic systems for disability rehabilitation are explored to divide the whole rehabilitation training process into three parts, earliest rehabilitation training, medium-term rehabilitation training and late rehabilitation training, respectively. Accordingly, brain-computer training modes, the master-slave training modes and the electromyogram (EMG) signals training modes are developed to be used in rehabilitation training to help stroke patients with hemiplegia to restore the motor function of upper limb. Aimed at the rehabilitation goal, three generations of VR rehabilitation system has designed. The first generation of VR rehabilitation system includes haptic device (PHANTOM Omni), an advanced inertial sensor (MTx) and a computer. The impaired hand grip the stylus of haptic device, the intact hand can control the impaired hand's motion based on the virtual reality scene. The second generation of the VR rehabilitation system is the exoskeleton robots structure. Two virtual upper limbs are portrayed in the virtual environment, simulated the impaired hand and the intact hand, respectively. The third generation is a novel VR-based upper limb rehabilitation robot system. In the system, the realization of virtual reality environment is implemented, which can potentially motivate patients to exercise for longer periods of time. Not only virtual images but also position and force information are sent to the doctors. The development of this system can be a promising approach for further research in the field of tele-rehablitation science.
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Conference papers on the topic "Phantom haptic device"

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Silva, Alejandro Jarillo, Omar A. Domínguez Ramirez, Vicente Parra Vega, and Jesus P. Ordaz Oliver. "PHANToM OMNI Haptic Device: Kinematic and Manipulability." In 2009 Electronics, Robotics and Automotive Mechanics Conference. IEEE, 2009. http://dx.doi.org/10.1109/cerma.2009.55.

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Shin, Eun-Cheol, and Jee-Hwan Ryu. "Transmission of operator intention impedance using phantom haptic device." In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). IEEE, 2014. http://dx.doi.org/10.1109/urai.2014.7057403.

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Lee, Leng-Feng, Xiaobo Zhou, and Venkat N. Krovi. "Quantitative Performance Analysis of Haptic Devices With Parallelogram Subsystems." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47725.

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Parallel-architecture haptic devices offer significant advantages over serial-architecture counterparts in applications requiring high stiffness and high accuracy. To this end, many haptic devices have been created and deployed by modularly piecing together several serial-chain arms to form an in-parallel system. Furthermore, recent haptic devices design such as the Sensable’s PHANToM Premium line of haptic devices and Quanser’s High Definition Haptic Device (HD)2 placed the 2nd actuated joint (of a 2-DOF RR serial manipulator) at the base of the device that allowed the control of the 2nd joint through a parallelogram/fourbar structure. This design is favorable from the view point of reducing the overall weight that the first motor has to carry. However, such design choices can affect the overall system performance which depends both on the nature of the individual arms as well as their interactions. In this paper, we build on the rich theoretical background of constrained articulated mechanical systems to provide a systematic framework for formulation of system-level kinematic performance from individual-arm characteristics. Specifically, we discuss: (i) development of pertinent symbolic equations; (ii) generalization to arbitrary architectures; and (iii) combined symbolic/numeric analyses of performance, focusing on manipulability and stiffness. These aspects are illustrated using the example of Quanser High Definition Haptic Device (HD)2 — an in-parallel haptic device formed by coupling two 3-link PHANToM 1.5 type serial chain manipulators with appropriate passive joints.
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Fischer, A., and J. M. Vance. "PHANToM haptic device implemented in a projection screen virtual environment." In the workshop. New York, New York, USA: ACM Press, 2003. http://dx.doi.org/10.1145/769953.769979.

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Covarrubias, Mario, Monica Bordegoni, Umberto Cugini, Elia Gatti, and Alessandro Mansutti. "Pantograph Mechanism for Increasing the Working Area in a Haptic Guidance Device for Sketching, Hatching and Cutting Tasks." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70800.

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The paper presents the design, construction, validation and testing of a Haptic Guidance Device whose aim is to provide dynamic assistance while performing manual activities such as drawing, hatching and cutting. A commercial phantom haptic device was modified by adding a pantograph mechanism in order to increase the haptic working area. The force feedback workspace provided by the phantom device is quite limited, 160 W × 120 H mm. This workspace sometimes is not enough to reproduce manual tasks in a large-scale area as is often required in several educational activities (e.g. sketching, hatching and cutting tasks). In this paper is evaluated a low cost solution for increasing the haptic working area provided by the phantom device. The pantograph mechanism has been linked with the haptic device in order to increase the working area in a 2:1 scale. The users hand moves a pen linked to the device through 2D predefined shapes in which the pens position have been tracked in 2D coordinates at 25 kHz in order to record all the data for the posterior analysis. The haptic guidance device is also equipped with a cutting system using hot wire for physically producing the drawn shape as a piece of polystyrene foam. The haptic guidance device has been tested by people with specific disorders affecting coordination such as Down syndrome and mental retardation under the supervision of their teachers and care assistants. The results of the study prove that higher performance levels can be achieved while performing manual tasks as sketching, hatching and cutting operation using the haptic guidance device.
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Horan, Ben, Ali Ghanbari, Saeid Nahavandi, XiaoQi Chen, and Wenhui Wang. "Towards Haptic Microrobotic Intracellular Injection." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87822.

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This paper proposes a system providing the operator with an intuitive method for controlling a micromanipulator during intracellular injection. A low-cost haptic device is utilised and 3D position-to-position kinematic mapping allows the operator to control the micropipette using a similar method to handheld needle insertion. The workspaces of the haptic device and micromanipulator are analysed and the importance of appropriate scaling to positioning resolution and tracking performance is investigated. The control issues integral to achieving adequate control of the micromanipulator using the Phantom Omni haptic device are addressed. Aside from offering an intuitive method for controlling the micropipette, this work lays the foundation for real-time haptic assistance in the cell injection task.
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Evans, Daniel J., Sankar Jayaram, John T. Feddema, Uma Jayaram, William A. Johnson, and Hans Seywald. "Haptic Display of Interaction Forces in MEMS Assembly Processes." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/cie-14581.

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Abstract In recent years, the world economy has seen expansive market growth in the area of Micro-Electro Mechanical Systems (MEMS). It is predicted that the MEMS market could reach more than $34 billion by the year 2002. Today, commercially available MEMS products include accelerometers for airbags and inkjet printer heads. These products require little or no assembly because a monolithic integrated circuit process is used to develop the devices. However, future MEMS will be more elaborate. Monolithic integration is not feasible when incompatible processes, complex geometry, or different materials are involved. For these cases, new and extremely precise micro-manipulation capabilities will be required for successful product realization. This paper outlines the design and implementation of a computer aided simulation of Micro Electro Mechanical Systems (MEMS) assembly utilizing force feedback devices for display of forces of interaction. The system described in this paper solves boundary element equations for electrostatic forces between MEMS components and then displays this solution in near real time with the help of the PHANToM force feedback device. Issues discussed in this paper include: boundary element solutions of electrostatic forces, interpolation of a six degree of freedom solution grid, scaling up of electrostatic forces to human scale, and use of the PHANToM device for haptic display of electrostatic and contact forces.
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Cruz-Valverde, Carlos, Omar A. Dominguez-Ramirez, Edgar R. Ponce-de-Leon-Sanchez, Itzel Trejo-Mota, and Gabriel Sepulveda-Cervantes. "Kinematic and Dynamic Modeling of the PHANToM Premium 1.0 Haptic Device: Experimental Validation." In 2010 IEEE Electronics, Robotics and Automotive Mechanics Conference (CERMA). IEEE, 2010. http://dx.doi.org/10.1109/cerma.2010.119.

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Covarrubias, Mario, Monica Bordegoni, and Umberto Cugini. "Multifunctional Device for Assisting Unskilled People in Hand Movements Through the Haptic Point-Based Approach." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47882.

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This paper describes a multifunctional haptic machine, a device that is used for assisting unskilled people in the assessment and training of hand movements. Sketching, hatching and cutting operations are assisted through the multifunctional device by using the haptic point-based approach. The device has enabled users to haptically interact with a 2D virtual template, which acts as a virtual tool path taking advantages of its force feedback capabilities. For sketching, hatching and cutting operations the haptic device is driven under the user movement and assisted through the Magnetic Goemetry Effect (MGE). Two configurations of the multifunctional device have been analyzed; the cartesian and the RR mechanism attached to the PHANTOM device. For sketching and hatching several pencils and pens colors are available. Regarding the cutting operation, a hot wire cutting tool can be replaced for cutting soft materials as expanded and extruded polystyrene foam. This paper discusses the design concept, kinematics and mechanics of the multifunctional haptic device. A brief test using the device in sketching, hatching and cutting operations is also given.
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Gupta, Abhishek, Marcia K. O’Malley, and Volkan Patoglu. "Disturbance Observer Based Closed Loop Force Control for Haptic Feedback." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-42131.

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Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions. Advanced force control in such interfaces can increase simulation fidelity through improvement of the transparency of the device, and can further improve robustness. However, closed loop force-feedback is limited both due to the bandwidth limitations of force sensing and the associated cost of force sensors required for its implementation. In this paper, we propose the use of a nonlinear disturbance observer for estimation of contact forces during haptic interactions. This approach circumvents the traditional drawbacks of force sensing while exhibiting the advantages of closed-loop force control in haptic devices. The feedback of contact force information further enables implementation of advanced robot force control techniques such as robust hybrid impedance and admittance control. Simulation and experimental results, utilizing a PHANToM Premium 1.0A haptic interface, are presented to demonstrate the efficacy of the proposed approach.
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