Extending the motion ranges of magnetic levitation for haptic interaction

Berkelman, Peter; Dzadovsky, Michael

doi:10.1109/whc.2009.4810897

Cited by 15 publications

(9 citation statements)

References 11 publications

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“…The coils cut magnetic induction lines generated by pairs of permanent magnets to realize haptic feedback when the suspension handle moves or rotates. Given the limitation of translational and rotational range of the suspension handle, Berkelman et al [20], [21], [41] extended the motion range by designing a planar array which contains 10 cylindrical electromagnetism coils, providing force feedback for the suspense stylus on the planar array. Moreover, Berkelman et al [24] also presented a novel system, which can generate 3D graphics and highfidelity haptic feedback seamlessly at the same physical location.…”

Section: Related Workmentioning

confidence: 99%

“…However, its workspace is small because the movement of its handle is limited. Berkelman et al [20], [21] extended the motion range by designing a planar array containing 10 cylindrical electromagnetism coils, producing haptic feedback on the planar array via a suspense stylus. Additionally, Hu et al [22] invented a magnetic levitation haptic feedback system for open surgery simulation and training system [23].…”

Section: Introductionmentioning

confidence: 99%

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Magnetic Levitation Haptic Augmentation for Virtual Tissue Stiffness Perception

Tong

Yuan

Liao

et al. 2018

IEEE Trans. Visual. Comput. Graphics

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Haptic-based tissue stiffness perception is essential for palpation training system, which can provide the surgeon haptic cues for improving the diagnostic abilities. However, current haptic devices, such as Geomagic Touch, fail to provide immersive and natural haptic interaction in virtual surgery due to the inherent mechanical friction, inertia, limited workspace and flawed haptic feedback. To tackle this issue, we design a novel magnetic levitation haptic device based on electromagnetic principles to augment the tissue stiffness perception in virtual environment. Users can naturally interact with the virtual tissue by tracking the motion of magnetic stylus using stereoscopic vision so that they can accurately sense the stiffness by the magnetic stylus, which moves in the magnetic field generated by our device. We propose the idea that the effective magnetic field (EMF) is closely related to the coil attitude for the first time. To fully harness the magnetic field and flexibly generate the specific magnetic field for obtaining required haptic perception, we adopt probability clouds to describe the requirement of interactive applications and put forward an algorithm to calculate the best coil attitude. Moreover, we design a control interface circuit and present a self-adaptive fuzzy proportion integration differentiation (PID) algorithm to precisely control the coil current. We evaluate our haptic device via a series of quantitative experiments which show the high consistency of the experimental and simulated magnetic flux density, the high accuracy (0.28 mm) of real-time 3D positioning and tracking of the magnetic stylus, the low power consumption of the adjustable coil configuration, and the tissue stiffness perception accuracy improvement by 2.38 percent with the self-adaptive fuzzy PID algorithm. We conduct a user study with 22 participants, and the results suggest most of the users can clearly and immersively perceive different tissue stiffness and easily detect the tissue abnormality. Experimental results demonstrate that our magnetic levitation haptic device can provide accurate tissue stiffness perception augmentation with natural and immersive haptic interaction.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Magnetic Levitation Haptic Augmentation for Virtual Tissue Stiffness Perception

Tong

Yuan

Liao

et al. 2018

IEEE Trans. Visual. Comput. Graphics

View full text Add to dashboard Cite

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“…Therefore, many haptic devices were developed to enable the human operator to feel the force. The haptic devices are classified into three types according to their mechanical grounding configuration [13] including the grounded type [14][15][16][17][18][19], the nongrounded type [20][21][22][23][24], and the bodygrounded type [25,26]. The grounded haptic device easily provides weight sensation or 3-Dimensional (3D) forces, but is limited because it is fixed to a static object like a table or the floor.…”

Section: Introductionmentioning

confidence: 99%

Two-Fingered Haptic Device for Robot Hand Teleoperation

Kobayashi

Ikai

Fukui

et al. 2011

Journal of Robotics

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A haptic feedback system is required to assist telerehabilitation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to the distal segment of the operator's thumb, middle finger, and basipodite of the middle finger when the robot hand grasps an object. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.

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“…The motion ranges of these devices are given in Table 1. Preliminary design studies of the University of Hawaii device described here are given in [7] and initial levitation results in [8]. 1 All of these Lorentz levitation devices have been controlled using a constant current to force and torque transformation matrix calculated from the center, unrotated position of the levitated body, which has been sufficient for stable levitation control over their translation and rotation ranges.…”

Section: Introductionmentioning

confidence: 99%

Actuation model for control of a long range Lorentz force magnetic levitation device

Berkelman

Dzadovsky

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper describes control system development for a large motion range Lorentz force magnetic levitation device designed as a haptic interface device to be grasped by the hand. Due to the 50 mm translation and 60 degree rotation motion ranges of the desktop-sized device, the transformation between the vector of coil currents and the actuation forces and torques generated on the levitated body varies significantly throughout its motion range. To improve the dynamic performance of the device, the current to force and torque transformation can be recalculated at each control update as the levitated body moves about its workspace, rather than using a constant transformation calculated from the unrotated and centered position of the levitated body. The design of the device is presented and the new methods used to calculate coil current to force and torque transformations for levitation are described. Long-range trajectory following feedback control motion results are shown.

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Extending the motion ranges of magnetic levitation for haptic interaction

Cited by 15 publications

References 11 publications

Magnetic Levitation Haptic Augmentation for Virtual Tissue Stiffness Perception

Magnetic Levitation Haptic Augmentation for Virtual Tissue Stiffness Perception

Two-Fingered Haptic Device for Robot Hand Teleoperation

Actuation model for control of a long range Lorentz force magnetic levitation device

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