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—Haptic technology enables systems to interact with the human's sense of touch, and has been proposed for applications across a wide variety of domains. The cost prohibitive nature of most haptic devices however remains a contributing factor in preventing widespread real-world implementation. While some low-cost commercial-off-the-shelf haptic devices have(More)
The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to(More)
Currently the micro-robotic cell injection procedure is performed manually by professional bio-operators. It is a challenging task requiring advanced skills including the ability to precisely control the movement of a micropipette. Developing these skills requires both lengthy and intensive training, and significant practical experience. This paper extends(More)
Haptic interaction is a growing area of research and enables users to interact with virtual objects using their haptic sensory modality. Haptically enabled surgical simulation can allow users to be trained with realistic haptic feedback. Commercial-Off-The-Shelf (COTS) haptic devices typically provide either 3 or 6-Degrees of Freedom (DOF). While low-cost(More)
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