Friction Identification for Haptic Display

Richard, Christopher; Cutkosky, Mark R.; MacLean, Karon E.

doi:10.1115/imece1999-0043

Cited by 14 publications

(6 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Richard combined the Karnopp and linear viscous models, resulting in a modified Karnopp model. 20 In this paper, the friction force model explained is a further modification of the modified Karnopp model, incorporating the friction force caused by the elastic properties of the tissue. Hence, the friction model includes static friction, Coulomb friction, and forces resulting from tissue deflection (viscous and elastic forces).…”

Section: Friction Force Modeling: Modified Karnopp Modelmentioning

confidence: 99%

“…Specifically, the static friction force is neglected, and only the dynamic forces, which are Coulomb friction, viscous, elastic, and cutting force, are considered. 18,20 The insertion force without the static friction can be represented as follows:…”

Section: Insertion Force Modelingmentioning

confidence: 99%

“…The analytical insertion force model in this work is a unique and comprehensive approach that separates the force components into two distinct parts: the friction force model and the cutting force model. The friction force model is based on the well-established modified Karnopp model, 20 augmented with an elastic force component. This is a novel aspect of the model, as it takes into account the properties of viscoelastic tissue.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Experimental and analytical study on insertion force of composite-coated needle in soft tissue material

Patel

Hutapea

2023

Proc Inst Mech Eng H

View full text Add to dashboard Cite

Medical interventions require control over surgical needle insertion to minimize tissue damage and target inaccuracies during percutaneous procedures. The composite coating of the needle using Polydopamine (PDA), Polytetrafluoroethylene (PTFE), and Activated Carbon (C) has been used to reduce the damaging needle insertion force. This research aims to further understand the interfacial mechanics of coated needle insertion by studying the forces at the needle and tissue interface and developing an analytical insertion force model through a combined experimental and numerical method. The proposed analytical force model is divided into two components: (1) Friction force on the needle shaft, modeled using a modified Karnopp model that includes an elastic force component; (2) Cutting force on the needle tip, modeled using a constant cutting coefficient for a given tissue and insertion speed. In this work, the analytical model was established by incorporating experiments conducted at a reasonable 35 mm insertion depth in tissues. In a bovine kidney with a 35 mm insertion depth, the insertion force evaluated through experimentation and modeling differed by 6.5% for a bare needle and 17.1% for a coated needle. It is important to note that this difference in the analytical insertion force model is anticipated when dealing with real tissues with a highly complex structured tissue. Prediction of the insertion force could potentially be utilized in robotic needle systems for needle control to improve the success of percutaneous procedures.

show abstract

Section: Friction Force Modeling: Modified Karnopp Modelmentioning

confidence: 99%

Section: Insertion Force Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Experimental and analytical study on insertion force of composite-coated needle in soft tissue material

Patel

Hutapea

2023

Proc Inst Mech Eng H

View full text Add to dashboard Cite

show abstract

“…They measured the axial force at the needle base to calculate the friction parameters such as Coulomb friction and damping coefficient. The friction calculation was motivated by the data analysis technique performed by Richard et al [32], which applied a least square regression to relate the sinusoidal velocity to the measured friction during the sliding of two surfaces.…”

Section: Measurement Of Needle Tissue Interaction Frictionmentioning

confidence: 99%

An experimental study on the mechanics and control of SMA-actuated bioinspired needle

Acharya,

Hutapea

2023

Bioinspir. Biomim.

View full text Add to dashboard Cite

Active needles demonstrate improved accuracy and tip deflection compared to their passive needle counterparts, a crucial advantage in percutaneous procedures. However, the ability of these needles to effectively navigate through tissues is governed by needle-tissue interaction, which depends on the tip shape, the cannula surface geometry, and the needle insertion method. In this research, we evaluated the effect of cannula surface modifications and the application of a vibrational insertion technique on the performance of shape memory alloy (SMA)-actuated active needles. These features were inspired by the mosquito proboscis’ unique design and skin-piercing technique that decreased the needle tissue interaction force, thus enhancing tip deflection and steering accuracy. The bioinspired features, i.e., mosquito-inspired cannula design and vibrational insertion method, in an active needle reduced the insertion force by 26.24% and increased the tip deflection by 37.11% in prostate-mimicking (PM) gel. In addition, trajectory tracking error was reduced by 48%, and control effort was reduced by 23.25%, pointing towards improved needle placement accuracy. The research highlights the promising potential of bioinspired SMA-actuated active needles. Better tracking control and increased tip deflection are anticipated, potentially leading to improved patient outcomes and minimized risk of complications during percutaneous procedures.

show abstract

“…In Karnopp's model, within the small zero-velocity area, the friction is calculated as the minimum value between the value needed to keep the system at zero velocity and the break-away friction force level. Based on Karnopp's model, Berkelman and Richard achieved stable haptic rendering of friction [6,7]. Dahl modeled friction as a function of displacement [8].…”

Section: Haptic Rendering Of Frictionmentioning

confidence: 99%

Virtual Manufacturing to Design a Manufacturing Technology for Components Made of a Multiphase Perfect Material

Wang¹,

Chen²,

Feng³

2008

Computer-Aided Design and Applications

View full text Add to dashboard Cite

Haptic perception of fine surface features is a fundamental modality to identify virtual objects. Roughness and stickiness, which are modeled as surface textures and friction respectively, are the main characteristics in terms of haptics. This research is aimed at the haptic rendering method of fine surface features based on the analysis of the surface profile. Functionally generated surface features are employed for the haptic rendering of surface textures and surface friction. Haptic rendering of anisotropic surface -surface having a dominant feature direction, and haptic rendering of heterogeneous surface -surface with a varied feature density, are investigated. Experimental measurements and prototype system implementations have been done to show the fidelity of the proposed surface feature modeling methods.

show abstract

Friction Identification for Haptic Display

Cited by 14 publications

References 0 publications

Experimental and analytical study on insertion force of composite-coated needle in soft tissue material

Experimental and analytical study on insertion force of composite-coated needle in soft tissue material

An experimental study on the mechanics and control of SMA-actuated bioinspired needle

Virtual Manufacturing to Design a Manufacturing Technology for Components Made of a Multiphase Perfect Material

Contact Info

Product

Resources

About