Embedded Haptic Device Implementation for Soft Tissue Rendering

In this work, a haptic robotic device and its real-time virtual reality interface, deployed in an embedded computational platform is developed, in order to simulate soft tissue rendering contact forces and effects. A control scheme based on a bilateral tele-operation system is proposed recreating a...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2020, Automation, and Systems, 18(10), , pp.2667-2677
Main Authors: Acosta, Humiko Yahaira Hernández, Cid, Alejandro Miranda, Sánchez, Alejandro Tonatiu Velázquez, Neria, Mario Ramírez, Calderón, Guillermo Manuel Urriolagoitia
Format: Article
Language:English
Subjects:
Algorithms
Biomechanics
Compression tests
Contact force
Control
Engineering
Haptics
Mechatronics
Pork
Rendering
Robot and Applications
Robotics
Soft tissues
Teleoperators
Virtual reality
제어계측공학
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Summary:In this work, a haptic robotic device and its real-time virtual reality interface, deployed in an embedded computational platform is developed, in order to simulate soft tissue rendering contact forces and effects. A control scheme based on a bilateral tele-operation system is proposed recreating a multimodal interaction between the surgical trainer (operator) and the virtual robot (slave) in force-visual feedback environment. The virtual interaction object was modeled as a restriction in the haptic engine, it was implemented with an orthogonal decomposition of contact forces algorithm, generating two independent dynamics and recreated exponential deformation forces, like ones present during the manipulation of real organic tissue. The proposed model contains the biomechanical properties of a soft tissue (pork liver), characterized in an experimental compression test with an indenter.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-019-0249-4