Design of a haptic device for teleoperation and virtual reality systems

Dede, Mehmet İsmet Can; Selvi, Özgün; Bilgincan, Tunç; Kant, Yalkin

doi:10.1109/icsmc.2009.5346857

Cited by 10 publications

(6 citation statements)

References 13 publications

(12 reference statements)

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“…It is a four-degree-of-freedom device and uses parallel mechanisms in its con¿guration with lightweight moving parts [9]. Özgün Selvi et al select HybridSpherical and R-cube mechanisms to configure the haptic device [10]. The decoupled motion of the R-cube and the Hybrid-Spherical manipulator results in relatively easy forward and inverse kinematic calculations.…”

Section: Introductionmentioning

confidence: 98%

Design and optimization of a haptic manipulator using series-parallel mechanism

Yong

Yan

Wang

et al. 2012

2012 IEEE International Conference on Mechatronics and Automation

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This paper presents design and optimization of an 8-DOF haptic manipulator using series-parallel mechanism. Parallel mechanism is designed to control 3-DOF translation input parameters and transfer the feedback force to the operator. Series mechanism is a 4-DOF quadruple-axial concurrent redundant mechanism, controlling three orientation angles. Forward and inverse kinematic analyses have been performed and the jacobian matrix is derived. Operating performance indexes such as global conditioning index, global kinematic performance fluctuant index and workspaces are evaluated to find optimal parameters in design stage.

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Section: Introductionmentioning

confidence: 98%

Design and optimization of a haptic manipulator using series-parallel mechanism

Yong

Yan

Wang

et al. 2012

2012 IEEE International Conference on Mechatronics and Automation

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“…Dede et al [34] conducted research on touch sensation for robotic design and optimization through structural analysis in a computer-aided design environment to improve the accuracy and sense of presence in remote operations. Lee and Wong [35] investigated the learning effectiveness of high school students in a virtual learning environment, including the effect of learners' ability to interact with different spaces.…”

Section: Discussionmentioning

confidence: 99%

Application of Virtual Reality in Learning the Concepts of Special Relativity and Mass–Energy Equivalence

Tarng¹,

Liao²,

Ou³

2022

Universe

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Einstein described the relationship between mass and energy using the theory of special relativity by a simple equation, E=mc2. Mass–energy equivalence implies that mass can be converted into energy and vice versa. In this study, a virtual reality (VR) system was developed for learners to take a spacecraft travelling at nearly the speed of light to conduct space exploration and understand the concepts of special relativity and mass–energy equivalence. A teaching experiment was conducted to investigate the learning effectiveness and cognitive load of learners by recruiting 60 students as research samples. The experimental group (30 students) used the VR system and the control group (30 students) used physics textbooks for learning special relativity and mass–energy equivalence. The experimental results reveal that the learning effectiveness of the experimental group is higher than that of the control group while the cognitive load of the former is lower than that of the latter. The questionnaire results show that students of the control group had responded positively to learning content, cognitive usefulness, cognitive ease of use, and user satisfaction, indicating that they were satisfied with the learning experience of the VR system.

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“…The workspace size of the MEPam is 142.5 × 171 × 187 mm. Dede et al [112] proposed a hybrid haptic device comprised of Hybrid-Spherical and R-Cube mechanisms. The kinematics of the device is easily analyzed thanks to the decoupled motions of the stated mechanisms.…”

Section: Haptic Interfaces With Hybrid Mechanismmentioning

confidence: 99%

Kinematic design of linkage-based haptic interfaces for medical applications: a review

et al. 2021

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A haptic interface recreates haptic feedback from virtual environments or haptic teleoperation systems that engages the user’s sense of touch. High-fidelity haptic feedback is critical to the safety and success of any interaction with human beings. Such interactions can be seen in haptic systems utilized in medical fields, such as for surgical training, robotic tele-surgery, and tele-rehabilitation, which require appropriate haptic interface design and control. In order to recreate high-fidelity soft and stiff contact experiences for the user in the intended application, different designs strike different trade-offs between the desirable characteristics of an interface, such as back-drivability, low apparent inertia and low friction for the best perception of small reflected forces, large intrinsic stiffness and force feedback capability for the best perception of large reflected forces, a large-enough workspace for exploring the remote or virtual environment, and the uniformity of haptic feedback and its adequate sensitivity over the workspace. Meeting all of the requirements simultaneously is impossible, and different application-driven compromises need to be made. This paper reviews how various kinematic designs have helped address these trade-offs in desired specifications. First, we investigate the required characteristics of linkage-based haptic interfaces and inevitable trade-offs between them. Then, we study the state of the art in the kinematic design of haptic interfaces and their advantages and limitations. In all sections, we consider the applications of the intended haptic interfaces in medical scenarios. Non-linkage-based haptic interfaces are also shortly discussed to show the broad range of haptic technologies in the area. The potentials of kinematic redundancy to address the design trade-offs are introduced. Current challenges and future directions of haptic interface designs for medical applications are shortly discussed, which is finally followed by the conclusion.

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Design of a haptic device for teleoperation and virtual reality systems

Cited by 10 publications

References 13 publications

Design and optimization of a haptic manipulator using series-parallel mechanism

Design and optimization of a haptic manipulator using series-parallel mechanism

Application of Virtual Reality in Learning the Concepts of Special Relativity and Mass–Energy Equivalence

Kinematic design of linkage-based haptic interfaces for medical applications: a review

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