CN105824248B - A kind of impedance and the haptic feedback control method based on event - Google Patents
A kind of impedance and the haptic feedback control method based on event Download PDFInfo
- Publication number
- CN105824248B CN105824248B CN201610150621.7A CN201610150621A CN105824248B CN 105824248 B CN105824248 B CN 105824248B CN 201610150621 A CN201610150621 A CN 201610150621A CN 105824248 B CN105824248 B CN 105824248B
- Authority
- CN
- China
- Prior art keywords
- force
- impedance
- effect side
- force feedback
- event
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000000694 effects Effects 0.000 claims abstract description 31
- 238000002474 experimental method Methods 0.000 claims abstract description 14
- 230000002452 interceptive effect Effects 0.000 claims abstract description 8
- 238000004088 simulation Methods 0.000 claims description 16
- 230000003993 interaction Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 5
- 230000014509 gene expression Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000007654 immersion Methods 0.000 abstract 1
- 238000001356 surgical procedure Methods 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 7
- 238000005553 drilling Methods 0.000 description 5
- 238000012549 training Methods 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000037182 bone density Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of impedance and based on the haptic feedback control method of event.The method includes：The kinetic model of force feedback equipment is established, and balancing force/torque F of the force feedback equipment is calculated based on the kinetic modelc；According to the real-time, interactive state for acting on both sides in emulation experiment, thus adjustment in real time calculates the reciprocal force F of main effect side and virtual environment from the biomechanics characteristic of effect sideVE；The vibrational feedback power F of force feedback equipment is determined based on the event signal in emulation experimentv；Based on the kinetic model, real-time control is carried out to the haptic force output of force feedback equipment using impedance and event-based control method.The present invention realizes sense of touch of the force feedback equipment in emulation experiment and reproduces, and is effectively improved the fidelity of force feedback equipment sense of touch, transparency in emulation experiment, enhances the feeling of immersion of emulation experiment.
Description
Technical field
The present invention relates to touches to feel the fields such as interaction technique, virtual reality technology, Robot Control Technology, especially a kind of
Impedance and the haptic feedback control method based on event in Surgery Simulation.
Background technology
The professional skill of practitioner is giveed training using virtual reality technology and has been achieved for good effect, one
Extremely successful example is exactly to be giveed training to pilot using flight simulator.With the hair of computer and virtual reality technology
Exhibition, Surgery Simulation are increasingly becoming the new paragon of the preoperative rehearsal of doctor and skill training.Traditional Surgery Simulation technology mainly carries
User's visual feedback is supplied, user can only see the interaction of surgical instrument and physiological tissue, but cannot touch and feel.Therefore,
Traditional virtual interactive operation differs greatly with true surgical procedure, and especially doctor can not do according to the feel experience of oneself
Go out judgement and decision, the effect of emulation is unsatisfactory.Although foreign countries have had commercialized force feedback equipment to put at present
Market, but operating difficulty is big, surgical instrument it is complicated it is various etc. due to, virtual operation touch feels that interaction technique still suffers from
Challenge.
Current Surgery Simulation technology is mainly used in preoperative planning and rehearsal and cutting and sutures the instruction of technical ability
Practice.Comparatively, the skill training for relying on feel experience is also less.Such as common grinding drill in neurosurgery, doctor
The bony structures for needing to be ground off operative approach using grinding drill, could process pathological structure.Especially doctor needs basis
The feel experience of oneself accumulation judges the thickness of osteoplaque, to adjust the amount of force of oneself.However, due to grinding drill
Speed is high, is very easy to damage patient, young doctor grasps the technical ability and needs to learn for a long time and accumulate.
For having commercialized force feedback equipment, often multiduty, equipment operation handle is differed with surgical instrument
It is very remote.Other than device structure needs are made an amendment to adapt to operation demand, universal force feedback equipment can only feed back mutual
Active force can not reproduce grinding drill really " feel ".Especially the variation of reciprocal force can not be true after bony structures grinding
Feed back to operating side, doctor can not naturally also be judged according to corresponding feedback force and decision.
It is right the present invention is based on the open loop impedance adjustment of model compensation for the deficiency of traditional force-feedback control method
Electric drill in Surgery Simulation uses impedance and the haptic feedback control method based on event, realizes that force feedback equipment is imitative in operation
Sense of touch in very reproduces.
Invention content
The present invention is carried in conjunction with the open loop impedance control algorithm based on model compensation for the virtual electric drill in Surgery Simulation
Go out impedance and the haptic feedback control method based on event, realizes sense of touch of the force feedback equipment in Surgery Simulation and reproduce.
The impedance and haptic feedback control method based on event include the following steps：
Step S1：The kinetic model of force feedback equipment is established, and the power is calculated based on the kinetic model
The balancing force of feedback device/torque Fc；
Step S2：According to the real-time, interactive state for acting on both sides in emulation experiment, the Biological Strength from effect side is adjusted in real time
Characteristic is learned, the reciprocal force F of main effect side and virtual environment is thus calculatedVE；
Step S3：The vibrational feedback power F of force feedback equipment is determined based on the event signal in emulation experimentv；
Step S4：Based on the kinetic model, using impedance and event-based control method to force feedback equipment
Haptic force output carry out real-time control.
It is demonstrated experimentally that control method of the present invention has very strong practical value, effectively force feedback can be set
Standby power output is controlled.Compared with general impedance adjustment, the control method is by adjusting Surgery Simulation etc.
Impedance under emulation experiment environment so that sense of touch is truer, meanwhile, it is capable to response external event signal and generate corresponding touch
Feel feedback.In addition, the control method calculation amount is very small, shadow will not be caused to the power Rendering algorithms under complicated virtual environment
It rings, the real-time of control can be guaranteed.
Description of the drawings
Fig. 1 is the principle frame of impedance according to an embodiment of the invention and the haptic feedback control method based on event
Figure；
Fig. 2 is the event flow diagram of triggering vibrational feedback according to an embodiment of the invention.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
The present invention proposes a kind of impedance and the haptic feedback control method based on event.It is anti-that this method initially sets up power
The kinetic model of equipment is presented, balancing force/torque of force feedback equipment is thus calculated；Later according to grinding drill in Surgery Simulation with
The real-time, interactive state of bony structures adjusts the biomechanics characteristic of the bony structures, the i.e. rigidity of impedance function and damping, by
This calculates the reciprocal force in virtual environment；Finally according to corresponding event signal in Surgery Simulation, vibration amplitude and frequency are determined,
Vibrational feedback power is calculated according to vibration equation, on the basis of above-mentioned control method, the power output of force feedback equipment is carried out real
When control.
Fig. 1 is the principle frame of impedance according to an embodiment of the invention and the haptic feedback control method based on event
Figure, as shown in Figure 1, the haptic feedback control method includes the following steps：
Step S1：The kinetic model of force feedback equipment is established, and the power is calculated based on the kinetic model
The balancing force of feedback device/torque Fc；
The step S1 further includes following steps：
Step S11：Using Lagrangian mechanics or the method for System Discrimination, the dynamics side of force feedback equipment is established
Journey, as follows：
Wherein, power/torque of τ expressions broad sense, the joint variable of θ expression broad sense, the inertial matrix of M (θ) outgoing mechanism,
Indicate the acceleration of joint variable,Outgoing mechanism damps,Indicate that the speed of joint variable, G (θ) indicate gravity item.
Thus the impedance model of force feedback equipment, i.e. kinetic model are obtained, as follows：
Zm=mms2+bmS,
Wherein, ZmIndicate that the impedance of force feedback equipment, s indicate the Laplace variable of complex field, mm、bmRespectively power is anti-
Present the inertial parameter and damping parameter of design impedance model.
Step S12：The force feedback equipment is calculated in state output X and kinetic model based on force feedback equipment
Balancing force/torque Fc。
Wherein, balancing force/torque FcIt is expressed as：
Fc=ZmX。
In the step, the dynamic balancing force/torque F calculated in real time is utilizedcCompensate the impedance of force feedback equipment itself, from
And the impedance (impedance of desired output) for making virtual environment render is consistent as far as possible with the impedance of force feedback equipment reality output,
It ensure that the true and transparent of force feedback.
Step S2：According to the real-time, interactive state for acting on both sides in emulation experiment, the Biological Strength from effect side is adjusted in real time
Characteristic is learned, the reciprocal force F of main effect side and virtual environment is thus calculatedVE；
In an embodiment of the present invention, the biomechanics characteristic from effect side, and the impedance are described using impedance parameter
Parameter is real-time variable.The present embodiment in Surgery Simulation for acting on both sides' grinding drill and bony structures to the step S2
It illustrates, in the embodiment, grinding drill is main effect side, and bony structures are in step s 2, to be imitated from effect side according to operation
The real-time, interactive state (i.e. current bone density and bone thickness) of very middle grinding drill and bony structures adjusts the life of bony structures in real time
Thus object mechanical characteristic, the i.e. rigidity of its impedance function and damping calculate the reciprocal force F of grinding drill and virtual environmentVE, wherein
The variable impedance Z of the bony structuresVEIt is expressed as：
ZVE=kVE+bVES,
Wherein, kVE、bVEThe respectively stiffness coefficient and damped coefficient of bony structures.
The reciprocal force F of the grinding drill and virtual environmentVEIt indicates as follows：
FVE=ZVEX,
Wherein, X indicates the state output based on force feedback equipment.
In general, the stiffness coefficient and damped coefficient of bony structures be with bone density, the variation of bone thickness and change,
Variation function can be determined by experiment or experience estimation.Existing general force-feedback control method is only fixed to dummy object
Constant rigidity and damping so that operator is difficult the thickness for distinguishing bony structures and judging bone, because their " feel " is
It is thick-and-thin.The control method of impedance of the present invention can adjust the biomechanics characteristic of bony structures in real time, can be to not
Different impedance operators is rendered with the bony structures under state, so as to effectively enhance " feel " of operator.
Step S3：The vibrational feedback power F of force feedback equipment is determined based on the event signal in emulation experimentv；
The present embodiment still carries out the step S3 with for bony structures by acting on both sides' grinding drill in Surgery Simulation
Illustrate, in the embodiment, the vibrational feedback power F of force feedback equipment is as determined based on the event signal in Surgery Simulationv。
Specifically, the present invention is using luffing, the vibrational feedback force signal of the sinusoidal signal simulation grinding drill of frequency conversion, the vibration
Force signal is fed back by the reciprocal force F between drill speed v and drill bit and bony structuresVE(i.e. with the reciprocal force of virtual environment) certainly
It is fixed.The vibrational feedback force signal indicates as follows：
Fv=A (v, FVE) sin (2 π f (v, FVE) t),
Wherein, FvFor the vibrational feedback power of grinding drill, A (v, FVE), f (v, FVE) it is respectively the amplitude and frequency vibrated, and
All it is drilling speed v and reciprocal force FVEFunction.
Drill bit drilling speed v is used to refer to the switch events of grinding drill, and drilling speed zero indicates that electric drill is not turned on, therefore also do not have
There is vibrational feedback；Otherwise indicate that electric drill is opened, correspondence obtains corresponding vibration amplitude and frequency.Reciprocal force FVEIt is used to refer to drill bit
With the collision accident of bony structures, reciprocal force zero, expression does not collide, otherwise collides.Fig. 2 is illustrated based on thing
Part signal determines vibration amplitude and the flow chart of frequency, that is, triggers the event flow diagram of vibrational feedback, from figure 2 it can be seen that
Event of the force feedback equipment in Surgery Simulation refers to startup, close event and the drill bit and bony structures of grinding drill
Making contact event.The event includes three kinds of states altogether：(1) grinding drill is closed, feedback without friction；(2) grinding drill starts, with
Bony structures collisionless has vibrational feedback (vibration parameters 2)；(3) grinding drill starts, and has collision with bony structures, has vibration anti-
It presents (vibration parameters 1).
In addition, the grinding drill used in operation is generally controlled by foot pedal, the size of foot-operated partitioned signal determines grinding drill
The size of rotating speed；The friendship that whether drill bit generates collision with bony structures and mutual active force can be generated by virtual environment
Mutual power instruction.The vibration amplitude of grinding drill and frequency can be by measurings with the variation function of drilling speed and active force, can also be by
Experience chooses suitable analog function.It should be noted that the vibration of any moment electric drill is not the vibration of a certain frequency, and
It is the vibration for existing simultaneously frequency in a certain range, this control method embodiment only selects the highest frequency of amplitude as shaking
Vibration frequency in dynamic signal equation.
Step S4：Based on the kinetic model, using impedance and event-based control method to force feedback equipment
Haptic force output carry out real-time control.
The impedance refers to the impedance that current period is determined according to the interaction of virtual environment；The event refers to foot pedal
Unlatching, close event and the grinding drill of control and the collision accident of virtual environment, as shown in Figure 2 flow chart determine current period
Vibration amplitude and frequency.
Specifically, in this step, in the controlling cycle that force feedback equipment touch feels feedback control, by step S1
Obtained balancing force/torque Fc, main effect side and virtual environment that step S2 is obtained reciprocal force FVEIt shakes with what step S3 was obtained
Dynamic feedback force FvThis three control forces/torque is added the output as force feedback equipment controller.
To sum up, in an embodiment of the present invention, balancing force/torque F is calculated according to the kinetic model firstc；Then
Reciprocal force F is calculated using impedance algorithm according to drill bit and the interaction scenario of bony structuresVE, then according to grinding drill bit drilling speed
Vibration amplitude and frequency are determined with amount of force and vibrational feedback power F is calculated with thisv, finally by this three control force/torques
It is added the output as controller, completes the controlling cycle that touch feels feedback.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the present invention
Within the scope of shield.
Claims (7)
1. a kind of impedance and the haptic feedback control method based on event, which is characterized in that this approach includes the following steps：
Step S1：The kinetics equation of force feedback equipment is established, the impedance model of force feedback equipment, i.e. kinetic simulation are thus obtained
Type：
Zm=mms2+bmS,
Wherein, ZmIndicate that the impedance of force feedback equipment, s indicate the Laplace variable of complex field, mm、bmRespectively force feedback is set
The inertial parameter and damping parameter of standby impedance model；
And the compensation of the force feedback equipment is calculated in state output X based on force feedback equipment and the kinetic model
Power/torque Fc：
Fc=ZmX；
Step S2：Biomethanics according to the real-time, interactive state for acting on both sides in emulation experiment, adjustment in real time from effect side is special
Property, the real-time, interactive state are described by the current state parameter from effect side, the biomechanics characteristic from effect side
It is described by the impedance parameter of real-time variable, thus calculates the reciprocal force F of main effect side and virtual environmentVE；
Step S3：The vibrational feedback power F of force feedback equipment is determined based on the event signal in emulation experimentv；
Step S4：Based on the kinetic model, force feedback equipment is touched using impedance and event-based control method
Feel that power output carries out real-time control；The impedance refers to the impedance that current period is determined according to the interaction of virtual environment；It is described
Event includes at least one of the following：The collision of the startup of main effect side, close event and the effect sides main effect Fang Yucong
Contact event；In the controlling cycle that force feedback equipment touch feels feedback control, balancing force/power that step S1 is obtained
The main effect side that square, step S2 are obtained is added anti-as power with the obtained vibrational feedback power of the reciprocal force of virtual environment and step S3
Present the output of device controller.
2. according to the method described in claim 1, it is characterized in that, in the step S1, using Lagrangian mechanics or it is
The method of system identification, establishes the kinetics equation of force feedback equipment.
3. according to the method described in claim 1, it is characterized in that, the kinetics equation of the force feedback equipment is expressed as：
Wherein, power/torque of τ expressions broad sense, the joint variable of θ expression broad sense, the inertial matrix of M (θ) outgoing mechanism,It indicates
The acceleration of joint variable,Outgoing mechanism damps,Indicate that the speed of joint variable, G (θ) indicate gravity item.
4. according to the method described in claim 1, it is characterized in that, being described from effect side using the impedance parameter of real-time variable
Biomechanics characteristic, the impedance parameter includes the stiffness coefficient and damped coefficient from effect side.
5. according to the method described in claim 1, it is characterized in that, the reciprocal force F of the main effect side and virtual environmentVEIt indicates
For：
FVE=ZVEX,
Wherein, X indicates the state output based on force feedback equipment, ZVEIndicate the impedance parameter from effect side.
6. according to the method described in claim 1, it is characterized in that, in the step S3, using luffing, the sinusoidal signal of frequency conversion
The vibrational feedback force signal of main effect side is simulated, the amplitude and frequency of vibration are determined by event of the force feedback equipment in emulation experiment
It is fixed.
7. according to the method described in claim 6, it is characterized in that, the making contact event includes three kinds of states：Main effect
Side closes, feedback without friction；Main effect side starts, and with from effect side's collisionless, there is vibrational feedback；Main effect side start, with from
There is collision in effect side, there is vibrational feedback.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150621.7A CN105824248B (en) | 2016-03-16 | 2016-03-16 | A kind of impedance and the haptic feedback control method based on event |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150621.7A CN105824248B (en) | 2016-03-16 | 2016-03-16 | A kind of impedance and the haptic feedback control method based on event |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105824248A CN105824248A (en) | 2016-08-03 |
| CN105824248B true CN105824248B (en) | 2018-09-25 |
Family
ID=56523734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610150621.7A Active CN105824248B (en) | 2016-03-16 | 2016-03-16 | A kind of impedance and the haptic feedback control method based on event |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105824248B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10234945B2 (en) * | 2016-09-09 | 2019-03-19 | Immersion Corporation | Compensated haptic rendering for flexible electronic devices |
| CN106205329A (en) * | 2016-09-26 | 2016-12-07 | 四川大学 | Virtual operation training system |
| CN109062032B (en) * | 2018-10-19 | 2021-08-31 | 江苏省（扬州）数控机床研究院 | Robot PID variable impedance control method based on approximate dynamic inverse |
| CN113536599B (en) * | 2021-08-15 | 2022-04-29 | 吉林大学 | Naked finger force touch signal generation method with human body biomechanics difference characteristics |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101286188A (en) * | 2008-04-03 | 2008-10-15 | 深圳先进技术研究院 | Dummy emulation system force feedback computation method |
| US20080300521A1 (en) * | 2007-05-29 | 2008-12-04 | Microsoft Corporation | Haptic support and virtual activity monitor |
| CN104679918A (en) * | 2013-11-26 | 2015-06-03 | 中国科学院深圳先进技术研究院 | Method, device and system for simulating haptic interaction between bone drill and bone |
| CN105280080A (en) * | 2015-11-26 | 2016-01-27 | 中国科学院自动化研究所 | Three freedom degrees tactile sensation interaction system and tactile sensation interaction apparatus |
| CN105303605A (en) * | 2015-10-26 | 2016-02-03 | 哈尔滨理工大学 | Orthopedic surgery operation simulation system on the basis of force feedback |
-
2016
- 2016-03-16 CN CN201610150621.7A patent/CN105824248B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080300521A1 (en) * | 2007-05-29 | 2008-12-04 | Microsoft Corporation | Haptic support and virtual activity monitor |
| CN101286188A (en) * | 2008-04-03 | 2008-10-15 | 深圳先进技术研究院 | Dummy emulation system force feedback computation method |
| CN104679918A (en) * | 2013-11-26 | 2015-06-03 | 中国科学院深圳先进技术研究院 | Method, device and system for simulating haptic interaction between bone drill and bone |
| CN105303605A (en) * | 2015-10-26 | 2016-02-03 | 哈尔滨理工大学 | Orthopedic surgery operation simulation system on the basis of force feedback |
| CN105280080A (en) * | 2015-11-26 | 2016-01-27 | 中国科学院自动化研究所 | Three freedom degrees tactile sensation interaction system and tactile sensation interaction apparatus |
Non-Patent Citations (3)
| Title |
|---|
| Adaptive Impedance Control in Haptic Teleoperation to Improve Transparency under Time-Delay;Costas Tzafestas，等;《2008 IEEE International Conference on Robotics and Automation》;20080523;212-219 * |
| Bone drilling haptic interaction for orthopedic surgical simulator;Ming-Dar Tsai，等;《Computers in Biology and Medicine》;20071231;1709-1718 * |
| 虚拟骨科手术中触觉交互建模方法综述;王琼，等;《集成技术》;20131130;第2卷(第6期);89-93 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105824248A (en) | 2016-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7169590B2 (en) | Method for inducing illusionary tactile force sense and device for inducing illusionary tactile force sense | |
| Je et al. | Aero-plane: A handheld force-feedback device that renders weight motion illusion on a virtual 2d plane | |
| CN105824248B (en) | A kind of impedance and the haptic feedback control method based on event | |
| JP6049788B2 (en) | Virtual tool operation system | |
| Khurshid et al. | Effects of grip-force, contact, and acceleration feedback on a teleoperated pick-and-place task | |
| Taima et al. | Controlling fatigue while lifting objects using pseudo-haptics in a mixed reality space | |
| AU2007335256B2 (en) | Method and apparatus for haptic control | |
| US20130198625A1 (en) | System For Generating Haptic Feedback and Receiving User Inputs | |
| Lelevé et al. | Haptic training simulation | |
| Tsai et al. | Airracket: Perceptual design of ungrounded, directional force feedback to improve virtual racket sports experiences | |
| US10698490B2 (en) | Haptic feedback device, method and system | |
| L’Orsa et al. | Introduction to haptics for neurosurgeons | |
| Gopher | Skill training in multimodal virtual environments | |
| Luo et al. | Team Northeastern's approach to ANA XPRIZE Avatar final testing: A holistic approach to telepresence and lessons learned | |
| Maurice et al. | Experimental assessment of the quality of ergonomic indicators for dynamic systems computed using a digital human model | |
| JP7482871B6 (en) | Gyroscopic Motion Feedback Device | |
| Fröhner et al. | An embodiment paradigm in evaluation of human-in-the-loop control | |
| Hu et al. | Enhance transparency of force feedback interaction series mechanism by SMC strategy | |
| Achberger et al. | Propellerhand: A hand-mounted, propeller-based force feedback device | |
| Achberger et al. | Touching data with PropellerHand | |
| CN115019591A (en) | Operation simulation method, operation simulation device and storage medium | |
| Glover et al. | An effective and intuitive control interface for remote robot teleoperation with complete haptic feedback | |
| Masuyama et al. | Force display device and control system for surgical training simulator using bone chisel | |
| Kron et al. | Exploration and manipulation of virtual environments using a combined hand and finger force feedback system | |
| Cavallo et al. | Proficiency assessment of gesture analysis in laparoscopy by means of the surgeon's musculo-skeleton model |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |