Haptic interface transparency achieved through viscous coupling

Mohand-Ousaid, Abdenbi; Millet, Guillaume Y.; Régnier, Stéphane; Haliyo, Sinan; Hayward, Vincent

doi:10.1177/0278364911430421

Cited by 27 publications

(30 citation statements)

References 36 publications

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“…Similarly, a graphical cue such as the shape of an undeformed cantilever would make the comparison with the deformed shape easier. Haptically, using a higherfidelity haptic device could refine the haptic rendering (Mohand Ousaid et al, 2011). Perhaps a better solution may be sound feedback as proposed by Marchi et al (2005).…”

Section: Effects Of Combining Visual and Haptic Feedbackmentioning

confidence: 99%

Haptics and graphic analogies for the understanding of atomic force microscopy

Millet¹,

Lécuyer

Burkhardt³

et al. 2013

International Journal of Human-Computer Studies

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This paper aims to evaluate the benefits of using virtual reality and force-feedback to help teaching nanoscale applications. We propose a teaching aid that combines graphic analogies and haptics intended to improve the grasp of non-intuitive nanoscale phenomena for people without prior knowledge of nanophysics. We look specifically at the most important nanophysical phenomenon, namely, the behavior of the probe of an Atomic Force Microscope (AFM) as it approaches a sample. The results from experiments carried out with 45 students indicate that a "magnet-spring" analogy helped beginners to establish the link between the behavior of a probe and its force-distance curve. The addition of haptic feedback increased focus about forces and improved the interpretation of the effect of cantilever stiffness. Haptic feedback and the analogical representation were very much appreciated by the subjects and had an impact on the construction of a mental model. Taken together, our results show a positive influence of using haptic feedback and graphic analogies, especially when students are first exposed to the notions that are in effect at the nanoscale.

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Section: Effects Of Combining Visual and Haptic Feedbackmentioning

confidence: 99%

Haptics and graphic analogies for the understanding of atomic force microscopy

Millet¹,

Lécuyer

Burkhardt³

et al. 2013

International Journal of Human-Computer Studies

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“…The slave probe is equipped with a force sensor, which uses electrostatic energy. The sensed force is scaled up and provided to the human operator through a custom 1-DoF haptic interface (Mohand Ousaid et al, 2012). The authors tested the proposed system in microscale force sensing scenarios, such as feeling capillary forces while penetrating a water droplet (Mohand Ousaid et al, 2015).…”

Section: Electrostatic Active Sensorsmentioning

confidence: 99%

Haptic Feedback for Microrobotics Applications: A Review

et al. 2016

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Microrobotics systems are showing promising results in several applications and scenarios, such as targeted drug delivery and screening, biopsy, environmental control, surgery, and assembly. While most of the systems presented in the literature consider autonomous techniques, there is a growing interest in human-in-the-loop approaches. For reasons of responsibility, safety, and public acceptance, it is in fact beneficial to provide a human with intuitive and effective means for directly controlling these microrobotic systems. In this respect, haptic feedback is widely believed to be a valuable tool in human-in-the-loop teleoperation systems. This article presents a review of the literature on haptic feedback systems for microrobotics, categorizing it according to the type of haptic technology employed. In particular, we considered both tethered and untethered systems, including applications of micropositioning, microassembly, minimally invasive surgery, delivery of objects, micromanipulation, and injection of cells. One of the main challenges for an effective implementation is stability control. In fact, the high scaling factors introduced to match variables in the macro and the micro worlds may introduce instabilities. Another challenge lies in the measurement of position and force signals in the remote environment. The integration of microsized sensors may significantly increase the complexity and cost of tools fabrication. To overcome the lack of force-sensing, vision seems a promising solution. Finally, although the literature on haptic feedback for untethered microrobotics is still quite small, we foreseen a great development of this field of research, thanks to its flexible applications in biomedical engineering scenarios.

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“…1(a), focuses on transparency and dynamic range. It is based on a dual-stage architecture [6,7]. The large, proximal motor provides power and the small, distal motor reproduces the force transients.…”

Section: Viscously Coupled Dual Stage Designmentioning

confidence: 99%

“…Referring to Fig. 2, a pole-placement controller, C(z), designed by polynomial methods was shown to be able to achieve a near perfect transparency [7]. Figure 3(a) shows the response to a null reference torque.…”

Section: Viscously Coupled Dual Stage Designmentioning

confidence: 99%

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Dual Stage Options for Interface Designs Suitable for Haptic Interaction at the Micro-Nano Scales

Mohand-Ousaid

Pacoret

et al. 2015

Experimental Robotics

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Abstract. Direct, manual interaction with the micro/nano scales is not straightforward because the objects at this scale obey unituitive physics. For instance, in ambient conditions at the micro-scale, capillary forces dominate over many other forces. When the scale becomes smaller, Brownian motion becomes pervasive. Haptic interfaces give us the option to bring the experience of this physics with the direct reach of the human sensorimotor capabilities. To cope with the limitations of conventional force feedback devices, we present here two alternative dual-stage designs suitable to address the needs of the interaction with the micro/nano scales. The first one features very low apparent inertia, a large dynamics range and a wide bandwidth. This properties are obtained by coupling a large actuator to a small one via a viscous coupler. Feedback can then be used to achieve nearly perfect transparency. The second is a conventional force feedback device augmented with a tactile transducer. The two channels are frequency compensated to achieved a flat response fro DC to one kHz.

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Haptic interface transparency achieved through viscous coupling

Cited by 27 publications

References 36 publications

Haptics and graphic analogies for the understanding of atomic force microscopy

Haptics and graphic analogies for the understanding of atomic force microscopy

Haptic Feedback for Microrobotics Applications: A Review

Dual Stage Options for Interface Designs Suitable for Haptic Interaction at the Micro-Nano Scales

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