Haptic devices

An interactive virtual simulation was performed by modifying the 3D data to imitate various surgical procedures, such as bone drilling, brain retraction, and tumor removal, with manipulation of a haptic device. Also, color-printed plaster models were produced using a selective laser sintering method (48). 

Rotary optical quadrature encoders are typically used as position sensors on the joints of haptic devices. They are integrated with rotary motors, which serve as actuators. Force sensors are used in haptic devices as the operator input to an admittance-controlled device or as a mechanism for canceling device friction in an impedance-controlled device. 

Gosselin, R, Bidard, C., and Brisset, J., Design of a high fidelity haptic device for telesurgery, Proc. Int. Conf on Robotics and Automation, pp. 206-211, 2005. 

Han et al. [2002] report that a 2-D force feedback device could be used to present 3-D shapes using a force-shading technique, a haptic analog to bump mapping in computer graphics. Bach-y-Rita et al. [ 2003 ] found that a system in which electrotactile stimuH were dehvered to the tongue via flexible electrode arrays placed in the mouth provided a feasible means for tactile vision substitution. 

Han H., Yamashita J., and Fujishiro I. 2002. 3D haptic shape perception using a 2D device. ACM... 

A VR system needs to be composed of three components hardware, software, and applications (Blach 2008). The hardware used in VR application can be roughly divided into visual displays, tracking devices, auditory feedback, and haptic feedback. The software part is often a combination of data produced within the product development process, for example, CAD files, and software used to link the different inputs from the user to the output possibilities of the VR system (Miedema 2010). 

Barnes SZ, Morr DR, Oggero E, Pagnacco G, Berme N (1997) The realization of a haptic (force feedback) interface device for the purpose of angioplasty surgery simulation. Biomed Sci Instrum 33 19-24... 

Schmidt H, Hesse S, Bernhardt R, and Kruger J, HapticWalker—novel haptic foot device, ACM Transactions on Applied Perception, vol. 2, pp. 166-180,2005. 

The master arms of the MIRO Lab system make use of a different architecture. They are composed of a Delta parallel stage for the translations and a serial wrist for the rotations. Two versions were successively used first an omega.7 haptic interface with a passive wrist, then a sigma.7 device with seven actuated axes (both from Force Dimension, Nyon, Switzerland). This hybrid architecture suffers from the same drawbacks as serial robots. While the Delta is very light and transparent, it has to carry a bulky and relatively heavy actuated wrist. In order to remain within an acceptable volume and weight, the torque feedback is limited and, even so, the two master arms cannot be placed side by side very close to each other. 

Massie, T.H., and Salisbury, J.K., The PHANToM haptic interface A device for probing virtual objects, Proc. ASME Haptic Interfaces for Virtual Environment and Teleoperator Systems in Dynamic Systems and Control, pp. 295-301,1994. 

Hayward, V., Astley, O.R., Cruz-Hernandez, M., Grant, D., and Robles-De-La-Torre, G., Haptic interfaces and devices. Sensor Review, 24(1), pp. 16-29, 2004. 

Force/TactUe Feedback Devices Devices that transmit and stimulate haptic and kineasthetic... 

Vapenstad C, Hofitad EF, Bo LE, et al. Limitations of haptic feedback devices on construct validity of the LapSim virtual reality simulator. Surg Endosc 2013 27(4) 1386-96. 

Sensors and actuators can be used for the detection and signalling (light, sound, haptic feedback) of threats such as bombs, improvised explosive devices (lEDs), mortars, toxic gases or even unexpected attacks from enemies (Chapman, 2012). The sensors and actuators can be integrated into military uniforms, accessories or vehicles and linked to the warning systems. 

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