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Zafer N, Yilmaz S. Frictional Compliant Haptic Contact and Deformation of Soft Objects. INT J ADV ROBOT SYST 2016. [DOI: 10.5772/63937] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
This paper is concerned with compliant haptic contact and deformation of soft objects. A human soft fingertip model is considered to act as the haptic interface and is brought into contact with and deforms a discrete surface. A nonlinear constitutive law is developed in predicting normal forces and, for the haptic display of surface texture, motions along the surface are also resisted at various rates by accounting for dynamic Lund-Grenoble (LuGre) frictional forces. For the soft fingertip to apply forces over an area larger than a point, normal and frictional forces are distributed around the soft fingertip contact location on the deforming surface. The distribution is realized based on a kernel smoothing function and by a nonlinear spring-damper net around the contact point. Experiments conducted demonstrate the accuracy and effectiveness of our approach in real-time haptic rendering of a kidney surface. The resistive (interaction) forces are applied at the user fingertip bone edge. A 3-DoF parallel robotic manipulator equipped with a constraint based controller is used for the implementation. By rendering forces both in lateral and normal directions, the designed haptic interface system allows the user to realistically feel both the geometrical and mechanical (nonlinear) properties of the deforming kidney.
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Affiliation(s)
- Naci Zafer
- Department of Mechanical Engineering, Eskisehir Osmangazi University, Eskisehir, Turkey
| | - Sezcan Yilmaz
- Department of Mechanical Engineering, Eskisehir Osmangazi University, Eskisehir, Turkey
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Zhong Y, Shirinzadeh B, Smith J, Gu C. Thermal–Mechanical-Based Soft Tissue Deformation for Surgery Simulation. Adv Robot 2012. [DOI: 10.1163/016918610x522531] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022]
Affiliation(s)
- Yongmin Zhong
- a Department of Mechanical Engineering, Curtin University of Technology, GPO Box U1987, Perth, Western Australia 6845, Australia;,
| | - Bijan Shirinzadeh
- b Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria 3800, Australia
| | - Julian Smith
- c Department of Surgery, Monash Medical Centre, Monash University, Clayton, Victoria 3800, Australia
| | - Chengfan Gu
- d Department of Materials Engineering, Monash University, Clayton, Victoria 3800, Australia
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Kim SY, Park SK, Park JA. A Dual Modeling Method for a Real-Time Palpation Simulator. JOURNAL OF INFORMATION PROCESSING SYSTEMS 2012. [DOI: 10.3745/jips.2012.8.1.055] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/03/2022]
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