Magnetic Localization for an Electromagnetic-Based Haptic Interface

Abstract

In this letter, we develop a magnetic localization system for an electromagnetic-based haptic interface (EHI). Haptic interaction is achieved using a controlled magnetic force applied via an EHI on a magnetic dipole attached to a wearable finger splint. The position of the magnetic dipole is estimated using two identical arrays of three-dimensional magnetic field sensors in order to eliminate the magnetic field generated by the EHI. The measurements of these arrays are used to estimate the position of the magnetic dipole by an artificial neural network. This network maps the field readings to the position of the magnetic dipole. The proposed system is experimentally validated under four cases of the magnetic field generated by the EHI. These cases are likely to be encountered during the haptic rendering of virtual shapes. In the absence of the magnetic field, the mean absolute position error (MAE) is 0.80 ± 0.30 mm (n = 125). Static and sinusoidal magnetic fields are applied, and the MAEs are 1.26 ± 0.43 mm (n = 125) and 0.91 ± 0.33 mm (n = 125), respectively. A random time-varying magnetic field is applied, and the MAE is 0.86 ± 0.33 mm (n = 125). Our statistical analysis shows that the repeatability of the magnetic localization is acceptable regardless of the field generated by the EHI, at α = 0.05 and 95% confidence level.

Uniform gradient magnetic field and spatial localization method based on Maxwell coils for virtual surgery simulation

“…There are primarily two types of magnetic sources for spatial localization, that is, solenoid coils 14,15 and permanent magnets. [16][17][18][19] Su et al introduced AMagPoseNet, an end-to-end neural network model designed to tackle the inverse static magnetic problem. 20 Chen et al designed a MagX sensor matrix for the positioning of wearable spherical magnets.…”

Omni

“…The shortcoming of passive magnets can be addressed using electromagnetism and computational control of magnetic forces. Two-dimensional arrays of electromagnets can be combined with passive magnets that are worn [58,63,60,2,8,6,9] or embedded in tools and interactive objects [28,43,57]. The actuation area can be increased by attaching an electromagnet to a biaxial linear stage [32,33].…”

Characterization of Helical Propulsion Inside In Vitro and Ex Vivo Models of a Rabbit Aorta

“…2. Position of helical robot is localized during its propulsion inside a catheter segment under the influence of rotating magnetic fields [13]. (a) Position is measured and estimated using camera feedback and a magnetic localization system, respectively.…”

“…approval(2018-06-PBT-NH) is obtained for the collection and handling of the sample, and the donor has given written informed consent. An array of Hall-effect sensors is used to localize the helical robot and measure its speed as the robot is not visible in blood [13]. A representative trial for the localization of the helical robot in PBS is shown in Fig.…”