Abstmd-Medical education has a strong ueed for palpation training. Haptic sense is indispensable for the detection of subsurface tumor. A Virtual Resliq (VR) training far breast palpation simulation was created u t i i n g the newly designed multi-nngered Haptic Interface Robot (HIRO). The simulation allows the user to perform breast palpation. A realistic model of the breast Was developed and a physicallybased modeling is achieved by using a Finite Element Method @EM) that provides correct reaction forces and deformations of a viltual deformable object. A \a medical application system for breast palpation using HlRO was developed and examined in a real-time experiment.
In this paper, a vision sensing system was developed in order to measure the gesture of the construction machine and the cylinder displacement of each actuator. The system consists of a single CCD video camera and several light sources which were used to acquire the distance information of key points of the construction machine. The three-dimensional coordinates of key points were obtained from a two-dimensional video image by using image processing. The gesture of the construction machine and the cylinder displacement of each hydraulic actuator were calculated via the inverse kinematics method.In addition, the validity of the proposed method was confirmed through an experiment of parameter estimation for the friction characteristics of a hydraulic cylinder.
Abstract. Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered haptic interface robot named HIRO II, which consists of a hand with 15 dof and an arm with 6 dof. The following research issues are presented: the design method of mechanism, an interface control that takes the redundancy of the mechanism into consideration, physical simulation including frictional force and moment, a haptic rendering with a deformable object, the system architecture and two application systems--a future science encyclopedia and a VR breast palpation system.
In this paper, a vision sensing system was developed in order to measure the gesture of a serial construction robot and the cylinder displacement of each actuator. The system consists of a single CCD video camera and several light sources which were used to acquire the distance information of key points of the construction robot. The three-dimensional coordinates of key points were obtained from a two-dimensional video image by using image processing. The gesture of the construction robot and the cylinder displacement of each hydraulic actuator were calculated via the inverse kinematics method. In addition, the validity of the proposed method was confirmed through an experiment of parameter estimation for the friction characteristics of a hydraulic cylinder.
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