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Investigating virtual environments has become an increasingly interesting research topic for engineers, computer and cognitive scientists, and psychologists. Although there have been several recent studies focused on the development of multimodal virtual environments (VEs) to study human-machine interactions, less attention has been paid to human-human and(More)
Computer haptics, an emerging field of research that is analogous to computer graphics , is concerned with the generation and rendering of haptic virtual objects. In this paper, we propose an efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs). Using this method and a haptic interface device, the(More)
We report the manipulation of 4-5 mum diameter polymer microspheres floating in water using optical tweezers (OT) and a haptic device (i.e. force-reflecting robotic arm). Trapped microspheres are steered using the end-effector of a haptic device that is virtually coupled to an XYZ piezo-scanner controlling the movements of the fluid bed. To help with the(More)
A new approach, called adaptive Q control, for tapping-mode atomic force microscopy (AFM) is introduced and implemented on a homemade AFM setup utilizing a laser Doppler vibrometer and a piezoactuated bimorph probe. In standard Q control, the effective Q factor of the scanning probe is adjusted prior to the scanning depending on the application. However,(More)
The lack of experimental data in current literature on material properties of soft tissues in living condition has been a significant obstacle in the development of realistic soft tissue models for virtual reality based surgical simulators used in medical training. A robotic indenter was developed for minimally invasive measurement of soft tissue properties(More)
Simulation-based training using VR techniques is a promising alternative to traditional training in minimally invasive surgery (MIS). Simulators let the trainee touch, feel, and manipulate virtual tissues and organs through the same surgical tool handles used in actual MIS while viewing images of tool-tissue interactions on a monitor as in real laparoscopic(More)
We investigate how collaborative guidance can be realized in multi-modal virtual environments for dynamic tasks involving motor control. Haptic guidance in our context can be defined as any form of force/tactile feedback that the computer generates to help a user execute a task in a faster, more accurate, and subjectively more pleasing fashion. In(More)