Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444678
Taku Hachisu, Sayaka Oshima, Y. Hashimoto, H. Kajimoto
We found a new haptic illusion that is induced by a combination of a tactile stimulus and motor activity. When we presented a continuous vibratory tactile stimulus to the palm while moving the forearm vertically, a feeling of elasticity or “a soft rubber ball bouncing on the palm” is generated. We hypothesized that this illusion is caused by a well-known tactile suppression during motor activity. In the first of two experiments, we measured the optimal vibratory frequency for the illusion. In the second experiment, we measured the temporal behavior of tactile sensitivity to the vibration on the palm during periodical forearm motion. Based on the results of the experiments, we considered the mechanism of the illusion.
{"title":"Haptic illusion of elasticity by tactile suppression during motor activity","authors":"Taku Hachisu, Sayaka Oshima, Y. Hashimoto, H. Kajimoto","doi":"10.1109/HAPTIC.2010.5444678","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444678","url":null,"abstract":"We found a new haptic illusion that is induced by a combination of a tactile stimulus and motor activity. When we presented a continuous vibratory tactile stimulus to the palm while moving the forearm vertically, a feeling of elasticity or “a soft rubber ball bouncing on the palm” is generated. We hypothesized that this illusion is caused by a well-known tactile suppression during motor activity. In the first of two experiments, we measured the optimal vibratory frequency for the illusion. In the second experiment, we measured the temporal behavior of tactile sensitivity to the vibration on the palm during periodical forearm motion. Based on the results of the experiments, we considered the mechanism of the illusion.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121287167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444612
Hao Su, Weijian Shang, Gregory A. Cole, Kevin Harrington, G. Fischer
This paper presents the design of a haptic system for prostate needle brachytherapy under magnetic resonance imaging (MRI) guidance. This haptic system consists of some recently developed MRI-compatible mechatronic devices, including a fiber optic force sensor and a piezoelectric motor actuated needle driver mounted on a specifically designed 3-axis linear stage. We first propose the teleoperation framework with system architecture, infrastructure and control algorithm for the master-slave haptic interface. Then we introduce some novel sensors and actuators for MRI-compatible mechatronic devices of this haptic system. We developed the force sensor which provides in-vivo measurement of needle insertion forces to render proprioception associated with the brachytherapy procedure. We discuss the sensing principle of the optical sensor which enables two degrees-of-freedom (DOF) torque measurement and one DOF force measurement. The second apparatus of this system is a high precision 3-axis linear stage actuated by piezoelectric motors and position sensed by optical linear and rotary encoders and all of them have proved good magnetic compatibility. The needle driver can simultaneously provide needle cannula rotation and stylet translation motion while the cannula translation is engendered by the stage. The independent rotation and translation motion of the cannula and stylet can increase the targeting accuracy while minimize the tissue deformation and damage. The master-slave haptic system is capable of positioning needle and sensing insertion forces thus increasing the operation autonomy, accuracy and reducing the operation time.
{"title":"Haptic system design for MRI-guided needle based prostate brachytherapy","authors":"Hao Su, Weijian Shang, Gregory A. Cole, Kevin Harrington, G. Fischer","doi":"10.1109/HAPTIC.2010.5444612","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444612","url":null,"abstract":"This paper presents the design of a haptic system for prostate needle brachytherapy under magnetic resonance imaging (MRI) guidance. This haptic system consists of some recently developed MRI-compatible mechatronic devices, including a fiber optic force sensor and a piezoelectric motor actuated needle driver mounted on a specifically designed 3-axis linear stage. We first propose the teleoperation framework with system architecture, infrastructure and control algorithm for the master-slave haptic interface. Then we introduce some novel sensors and actuators for MRI-compatible mechatronic devices of this haptic system. We developed the force sensor which provides in-vivo measurement of needle insertion forces to render proprioception associated with the brachytherapy procedure. We discuss the sensing principle of the optical sensor which enables two degrees-of-freedom (DOF) torque measurement and one DOF force measurement. The second apparatus of this system is a high precision 3-axis linear stage actuated by piezoelectric motors and position sensed by optical linear and rotary encoders and all of them have proved good magnetic compatibility. The needle driver can simultaneously provide needle cannula rotation and stylet translation motion while the cannula translation is engendered by the stage. The independent rotation and translation motion of the cannula and stylet can increase the targeting accuracy while minimize the tissue deformation and damage. The master-slave haptic system is capable of positioning needle and sensing insertion forces thus increasing the operation autonomy, accuracy and reducing the operation time.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115268094","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444619
D. Powell, M. O'Malley
During training and rehabilitation with haptic devices, it is often necessary to simultaneously present force cues arising from different haptic models (such as guidance cues and environmental forces). Multiple force cues are typically summed to produce a single output force, which conveys only relative information about the original force cues and may not be useful to trainees. Two force co-presentation paradigms are proposed as potential solutions to this problem: temporal separation of force cues, where one type of force is overlaid with the other in staggered pulses, and spatial separation, where the forces are presented via multiple haptic devices. A generalized model for separating task and guidance forces in a virtual environment is also proposed. In a pilot study where sixteen participants were trained in a dynamic target-hitting task using these co-presentation paradigms, simple summation was in fact most effective at eliciting skill transfer in most respects. Spatial separation imposed the lowest overall workload on participants, however, and might thus be more appropriate than summation in tasks with other significant physical or mental demands. Temporal separation was relatively inferior at eliciting skill transfer, but it is hypothesized that this paradigm would have performed considerably better in a non-rhythmic task, and the need for further research is indicated.
{"title":"Co-presentation of force cues for skill transfer via shared-control systems","authors":"D. Powell, M. O'Malley","doi":"10.1109/HAPTIC.2010.5444619","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444619","url":null,"abstract":"During training and rehabilitation with haptic devices, it is often necessary to simultaneously present force cues arising from different haptic models (such as guidance cues and environmental forces). Multiple force cues are typically summed to produce a single output force, which conveys only relative information about the original force cues and may not be useful to trainees. Two force co-presentation paradigms are proposed as potential solutions to this problem: temporal separation of force cues, where one type of force is overlaid with the other in staggered pulses, and spatial separation, where the forces are presented via multiple haptic devices. A generalized model for separating task and guidance forces in a virtual environment is also proposed. In a pilot study where sixteen participants were trained in a dynamic target-hitting task using these co-presentation paradigms, simple summation was in fact most effective at eliciting skill transfer in most respects. Spatial separation imposed the lowest overall workload on participants, however, and might thus be more appropriate than summation in tasks with other significant physical or mental demands. Temporal separation was relatively inferior at eliciting skill transfer, but it is hypothesized that this paradigm would have performed considerably better in a non-rhythmic task, and the need for further research is indicated.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121038509","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444650
I. Kumazawa
In this paper, we introduce a simple device called Haptic Adapter which is attached to a finger and generates tactile feedback to the finger during touch panel operation. It also converts a finger action in the 3D space into a sequence of contact points on the 2D touch panel surface. Prototypes of Haptic Adapter have been designed and applied to such problems as text inputting, web browsing and virtual gaming. Effectiveness of its tactile feedback has been evaluated with the prototypes and their applications. The tactile feedback is used to guide the finger operation on the touch panel so that the finger operation is confirmed with the tactile sense and the input-error is reduced through the confirmation. It is also used to give realistic tactile feeling while playing games on the touch panel. Samples of such games are also demonstrated.
{"title":"A finger attachment to generate tactile feedback and make 3D gesture detectable by touch panel sensor","authors":"I. Kumazawa","doi":"10.1109/HAPTIC.2010.5444650","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444650","url":null,"abstract":"In this paper, we introduce a simple device called Haptic Adapter which is attached to a finger and generates tactile feedback to the finger during touch panel operation. It also converts a finger action in the 3D space into a sequence of contact points on the 2D touch panel surface. Prototypes of Haptic Adapter have been designed and applied to such problems as text inputting, web browsing and virtual gaming. Effectiveness of its tactile feedback has been evaluated with the prototypes and their applications. The tactile feedback is used to guide the finger operation on the touch panel so that the finger operation is confirmed with the tactile sense and the input-error is reduced through the confirmation. It is also used to give realistic tactile feeling while playing games on the touch panel. Samples of such games are also demonstrated.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132647893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444617
Richard D. Walker, S. Andersson, C. Belta, P. Dupont
We present a computational framework and experimental platform for robot navigation that allows for a user-friendly, graphical and haptic interaction with the human operator during the deployment process. The operator can see, feel, and manipulate the artificial potential field that drives the robot through an environment cluttered with obstacles. We present a case study in which the operator rescues a robot trapped in a local minimum of a navigation potential field.
{"title":"IN-HAPTICS: Interactive navigation using haptics","authors":"Richard D. Walker, S. Andersson, C. Belta, P. Dupont","doi":"10.1109/HAPTIC.2010.5444617","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444617","url":null,"abstract":"We present a computational framework and experimental platform for robot navigation that allows for a user-friendly, graphical and haptic interaction with the human operator during the deployment process. The operator can see, feel, and manipulate the artificial potential field that drives the robot through an environment cluttered with obstacles. We present a case study in which the operator rescues a robot trapped in a local minimum of a navigation potential field.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131175819","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444615
Mark L. Sivak, Ozer Unluhisarcikli, B. Weinberg, A. Mirelman, P. Bonato, C. Mavroidis
A haptic system for hand rehabilitation is presented that combines robotics and interactive virtual reality to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel Electro-Rheological Fluid (ERF) based hydraulic actuators. Tests were conducted to characterize these actuators, and feed-forward controllers were developed for their force/torque control. A virtual reality environment (maze game) was developed in which the robot applies force fields to the user as the user navigates the environment, forming a haptic interface between the patient and the game. Proof of concept testing was performed on the virtual environment to analyze the use interaction of haptic feedback and a virtual game.
{"title":"Haptic system for hand rehabilitation integrating an interactive game with an advanced robotic device","authors":"Mark L. Sivak, Ozer Unluhisarcikli, B. Weinberg, A. Mirelman, P. Bonato, C. Mavroidis","doi":"10.1109/HAPTIC.2010.5444615","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444615","url":null,"abstract":"A haptic system for hand rehabilitation is presented that combines robotics and interactive virtual reality to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel Electro-Rheological Fluid (ERF) based hydraulic actuators. Tests were conducted to characterize these actuators, and feed-forward controllers were developed for their force/torque control. A virtual reality environment (maze game) was developed in which the robot applies force fields to the user as the user navigates the environment, forming a haptic interface between the patient and the game. Proof of concept testing was performed on the virtual environment to analyze the use interaction of haptic feedback and a virtual game.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130996454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444682
Hsiang-Yu Chen, Jaeyoung Park, H. Tan, Steve Dai
The present study examined the efficacy of using audio cues for redundant coding of tactile key clicks simulated with a piezoelectric actuator. The tactile stimuli consisted of six raised cosine pulses at two levels of frequency and three levels of amplitude. An absolute identification experiment was conducted to measure the information transfers associated with the tactile-audio signal set. Results from Condition 1 (C1) provided a baseline measure by employing only the tactile signals. In Conditions 2–4 (C2–C4), supplemental audio signals were used to encode amplitude cues only, frequency cues only, and both amplitude and frequency cues, respectively. The results showed that partial redundant coding of tactile cues with audio signals could increase information transfer, when the cue (amplitude) was not perfectly identifiable with tactile signals alone (C2). When the cue (frequency) was well perceived through tactile signals alone, audio supplemental cues did not improve performance (C3). With redundant coding of both amplitude and frequency cues (C4), audio signals dominated tactile signals. It was also found that increased information transfer was achieved at the cost of increased response time (C2), suggesting increased mental load associated with the processing of multisensory information. Our findings have implications for the design of simulated key-click signals for mobile devices, and the use of multimodal signals for redundant coding of information in general.
{"title":"Redundant coding of simulated tactile key clicks with audio signals","authors":"Hsiang-Yu Chen, Jaeyoung Park, H. Tan, Steve Dai","doi":"10.1109/HAPTIC.2010.5444682","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444682","url":null,"abstract":"The present study examined the efficacy of using audio cues for redundant coding of tactile key clicks simulated with a piezoelectric actuator. The tactile stimuli consisted of six raised cosine pulses at two levels of frequency and three levels of amplitude. An absolute identification experiment was conducted to measure the information transfers associated with the tactile-audio signal set. Results from Condition 1 (C1) provided a baseline measure by employing only the tactile signals. In Conditions 2–4 (C2–C4), supplemental audio signals were used to encode amplitude cues only, frequency cues only, and both amplitude and frequency cues, respectively. The results showed that partial redundant coding of tactile cues with audio signals could increase information transfer, when the cue (amplitude) was not perfectly identifiable with tactile signals alone (C2). When the cue (frequency) was well perceived through tactile signals alone, audio supplemental cues did not improve performance (C3). With redundant coding of both amplitude and frequency cues (C4), audio signals dominated tactile signals. It was also found that increased information transfer was achieved at the cost of increased response time (C2), suggesting increased mental load associated with the processing of multisensory information. Our findings have implications for the design of simulated key-click signals for mobile devices, and the use of multimodal signals for redundant coding of information in general.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129522583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444683
N. Gaißert, C. Wallraven
Studies concerning how the brain might represent objects by means of a perceptual space have primarily focused on the visual domain. Here we want to show that the haptic modality can equally well recover the underlying structure of a physical object space, forming a perceptual space that is highly congruent to the visual perceptual space. By varying three shape parameters a physical shape space of shell-like objects was generated. Sighted participants explored pictures of the objects while blindfolded participants haptically explored 3D printouts of the objects. Similarity ratings were performed and analyzed using multidimensional scaling (MDS) techniques. Visual and haptic similarity ratings highly correlated and resulted in very similar visual and haptic MDS maps. To investigate to which degree these results are transferrable to natural objects, we performed the same visual and haptic similarity ratings and multidimensional scaling analyses using a set of natural sea shells. Again, we found very similar perceptual spaces in the haptic and visual domain. Our results suggest that the haptic modality is capable of surprisingly acute processing of complex shape.
{"title":"Perceptual representations of parametrically-defined and natural objects comparing vision and haptics","authors":"N. Gaißert, C. Wallraven","doi":"10.1109/HAPTIC.2010.5444683","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444683","url":null,"abstract":"Studies concerning how the brain might represent objects by means of a perceptual space have primarily focused on the visual domain. Here we want to show that the haptic modality can equally well recover the underlying structure of a physical object space, forming a perceptual space that is highly congruent to the visual perceptual space. By varying three shape parameters a physical shape space of shell-like objects was generated. Sighted participants explored pictures of the objects while blindfolded participants haptically explored 3D printouts of the objects. Similarity ratings were performed and analyzed using multidimensional scaling (MDS) techniques. Visual and haptic similarity ratings highly correlated and resulted in very similar visual and haptic MDS maps. To investigate to which degree these results are transferrable to natural objects, we performed the same visual and haptic similarity ratings and multidimensional scaling analyses using a set of natural sea shells. Again, we found very similar perceptual spaces in the haptic and visual domain. Our results suggest that the haptic modality is capable of surprisingly acute processing of complex shape.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128291119","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444677
Jongman Seo, Seungmoon Choi
This paper investigates the feasibility of creating spatially moving vibrotactile sensations using two vibrotactile actuators in a mobile device. The idea is based on well-known tactile illusions of apparent tactile motion and “phantom” sensation. The phantom sensation refers to a perceptual phenomenon where spatially separated vibrotactile actuators that stimulate different skin zones induce a single tactile sensation midway between the two stimulation points. We tested whether such sensation can also be elicited in a mobile device via a psychophysical experiment that employed an open response paradigm. Experimental conditions differed in vibration rendering method, signal duration, and sensation movement direction. The subjects answered the perceived positions and intensities of vibrotactile sensations by drawing graphs with respect to time. The results demonstrated that such “vibrotactile flow” can be reliably produced in a mobile device and that a performance trade-off exists depending on the method and signal duration used for rendering. The findings of this paper can be applied to the user interface design of a mobile device with enriched vibrotactile sensations and an improved information transfer bandwidth.
{"title":"Initial study for creating linearly moving vibrotactile sensation on mobile device","authors":"Jongman Seo, Seungmoon Choi","doi":"10.1109/HAPTIC.2010.5444677","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444677","url":null,"abstract":"This paper investigates the feasibility of creating spatially moving vibrotactile sensations using two vibrotactile actuators in a mobile device. The idea is based on well-known tactile illusions of apparent tactile motion and “phantom” sensation. The phantom sensation refers to a perceptual phenomenon where spatially separated vibrotactile actuators that stimulate different skin zones induce a single tactile sensation midway between the two stimulation points. We tested whether such sensation can also be elicited in a mobile device via a psychophysical experiment that employed an open response paradigm. Experimental conditions differed in vibration rendering method, signal duration, and sensation movement direction. The subjects answered the perceived positions and intensities of vibrotactile sensations by drawing graphs with respect to time. The results demonstrated that such “vibrotactile flow” can be reliably produced in a mobile device and that a performance trade-off exists depending on the method and signal duration used for rendering. The findings of this paper can be applied to the user interface design of a mobile device with enriched vibrotactile sensations and an improved information transfer bandwidth.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125891961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444620
M. Kalantari, M. Ramezanifard, R. Ahmadi, J. Dargahi, J. Kövecses
In the present paper, a novel and reliable tactile sensor is proposed to provide the required tactile feedback to the surgeon allowing the annuloplasty surgery to be performed by Minimally Invasive Surgery (MIS) techniques. The proposed sensor can differentiate between the hardness of different kind of elastomers. The structure of the sensor is very simple and it can easily be microfabricated, and integrated to various surgery devices such as catheters. The paper discusses the design, modeling, and fabrication of the sensor. Several hardness measuring tests are carried out on the sensor and the output is compared to a standard method of hardness measurement by a durometer. Two elastomers with hyperelastic behaviour, representing two different heart tissues were modelled mathematically to verify the sensor's output. It is shown that the output of the sensor is reliable.
{"title":"Design, fabrication, and testing of a piezoresistive hardness sensor in Minimally Invasive Surgery","authors":"M. Kalantari, M. Ramezanifard, R. Ahmadi, J. Dargahi, J. Kövecses","doi":"10.1109/HAPTIC.2010.5444620","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444620","url":null,"abstract":"In the present paper, a novel and reliable tactile sensor is proposed to provide the required tactile feedback to the surgeon allowing the annuloplasty surgery to be performed by Minimally Invasive Surgery (MIS) techniques. The proposed sensor can differentiate between the hardness of different kind of elastomers. The structure of the sensor is very simple and it can easily be microfabricated, and integrated to various surgery devices such as catheters. The paper discusses the design, modeling, and fabrication of the sensor. Several hardness measuring tests are carried out on the sensor and the output is compared to a standard method of hardness measurement by a durometer. Two elastomers with hyperelastic behaviour, representing two different heart tissues were modelled mathematically to verify the sensor's output. It is shown that the output of the sensor is reliable.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127655964","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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