Pneumatic Actuated Haptic Glove to Interact with the Virtual Human

The article presents the development of a method for planning the trajectory of motion of the joints of an anthropomorphic manipulator in virtual reality with copy control with haptic gloves based on the method of calculating the position of the operator's hands. The article discusses the existing development of haptic gloves, analyzes the scientific publications on this topic, which showed a variety of technical solutions. Two methods for the implementation of haptic gloves are indicated, for which the calculation of the path of movement of the robot arm is performed. The method of planning the trajectory of motion of the joints of the anthropomorphic manipulator with copy control using haptic gloves is based on the Denavit-Hartenberg representation and the developed method and calculating the position of the operator's hands in virtual reality.

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“…The papers [1][2][3][4][5][6][7][8][9] describe the current developments of haptic gloves. The devices considered are shown in Fig.…”

Section: Analytical Review Of Current Developments Of Haptic Gloves A...mentioning

confidence: 99%

Method of Planning the Trajectory of an Anthropomorphic Manipulator With a Copying Control With Haptic Gloves

Петренко¹,

Antonov²,

Тебуева³

et al. 2020

Proceedings of the 8th Scientific Conference on Information Technologies for Intelligent Decision Making Support (ITIDS 2020)

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“…Some applications are listed in [48]. Other samples are introduced in [62] where pneumatic actuation is used to provide tactile feedback to achieve intraoperative localization of an early-stage gastric tumor that cannot be visually detected during laparoscopic surgery, or in [63] where a pneumatic actuated haptic glove featuring silicone-made cavities located at the fingertips and the center of the palm of the user make users perceive soft skins with different shape, stiffness, and homogeneity. On the other end of the teleoperation chain, it can be used also for force sensing like in [64] where a force measurement is performed thanks to the air pressure variation inside a pneumatic balloon in contact with an object.…”

Section: Use In Medical Systemsmentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

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Simulators have been traditionally used for centuries during medical gestures training. Nowadays, mechatronic technologies have opened the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments representing various kind of patient and body parts including physio-pathologies issues. Gestures, to be mastered, vary according to each medical specialty (e.g., ultrasound probe orientations, or forceps installation during assisted delivery). Hence, medical students need kinesthetic feedback in order to significantly improve their learning capabilities. Gesture simulators require haptic devices with variable stiffness actuators. Existing solutions do not always fit the requirements because of their significant size. Contrary to electric actuators, pneumatic technology is low-cost, available off-the-shelf and offers a better mass–power ratio. However, it presents two main drawbacks: nonlinear dynamics and need for a compressed air supply. During the last decade, we have developed several haptic solutions based on pneumatic actuation (e.g., birth simulator, epidural needle insertion simulator) and, recently, in a joint venture with Prisme laboratory, a pneumatic probe master device for remote ultrasonography. This paper recalls literature scientific approaches on pneumatic actuation developed in the medical context and illustrated with the aforementioned applications to highlight the benefits.

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“…The more important thing is that touch perception can be formed to simulate the real tactile sensation or transmit some information with the help of controllable tactile display devices (Piškur et al , 2020). The options for tactile stimulation include electrical, mechanical, pneumatic, ultrasonic, water-jet stimulation, etc (Pediredla et al , 2020; Georgiou et al , 2018; Talhan et al , 2018; Shuai et al , 2006). During the above stimulation patterns, the latter four types require a large size of tactile display devices, which limit their daily use (Hwang et al , 2017; Wang et al , 2017).…”

Section: Introductionmentioning

confidence: 99%

Qualifying tactile sensations evoked by non-steady cutaneous electrical stimulation with electroencephalography features

Chen

Shuai

2020

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Purpose This paper aims to investigate whether electroencephalography (EEG) technology is effective in qualifying the tactile sensation evoked by non-steady cutaneous electrical stimulation. EEG is a novel method for electrotactile analysis and has demonstrated the discrimination ability for electrotactile sensation under steady contact conditions in recent years. However, in non-steady contact conditions, it is necessary to test its effectiveness. This study aims to explore an objective analysis method in comparison to psychophysical approach and to provide a methodology for non-steady electrotactile research. Design/methodology/approach With EEG experimentation on 13 volunteers, the authors collected evoked potentials by the predesigned “1” and “0” stimulation events. In addition, with a series of data preprocessing including artifact elimination, band-pass filtering, baseline normalization, data superposition and fast Fourier transform transformation, the authors got the power spectrum of alpha, beta and gamma rhythms. Furthermore, statistics analysis and ANOVA test were adopted for exploring the discrepancy of the spectrum characterizations for different non-steady electrostimulation events. Findings The EEG power spectrum of the central cortical brain is valuable in discriminating the two types of stimulation events. The power of alpha rhythm especially in the central cortical brain evoked by event “1,” whose current level is equal to the threshold, was significantly lower than that evoked by event “0,” whose level is less than the threshold (p < 0.05). Then, the power of the beta rhythm presented counter-change (p < 0.05). This study suggests that EEG may have the potential to qualify non-steady electrotactile sensation for engineering applications. Research limitations/implications Limiting factors of non-steady electrotactile stimulation were considered in this study. Different tapping frequency and contact time should be investigated in future studies. Originality/value This paper fulfills a challenge in qualifying the tactile sensations evoked by non-steady electrical stimulation with EEG characteristics.

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Pneumatic Actuated Haptic Glove to Interact with the Virtual Human

Cited by 3 publications

References 4 publications

Method of Planning the Trajectory of an Anthropomorphic Manipulator With a Copying Control With Haptic Gloves

Method of Planning the Trajectory of an Anthropomorphic Manipulator With a Copying Control With Haptic Gloves

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Qualifying tactile sensations evoked by non-steady cutaneous electrical stimulation with electroencephalography features

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