Thenkurussi Kesavadas

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In this paper we describe our efforts to develop a new strategy for providing assistance using haptics in a virtual environment when training for a motor skill. Using a record and play strategy, the proposed assistance method will provide closest possible replication of expert's skill. We have defined a new paradigm called " Haptic Attributes " where we(More)
This paper presents an external camera method for measuring fingertip forces by imaging the fingernail and surrounding skin. This method is an alternative to the pho-toplethysmograph sensor originally developed by one of the authors. A 3D model of the fingernail surface and skin is obtained with a stereo camera and laser striping system. Subsequent images(More)
This paper presents a methodology of material property determination by a human subject's active finger tapping. Object digitization by direct finger touch is a prerequisite for good quality intuitive haptic input interface. Previous attempts were limited to scanning the surface geometry, and were not capable of describing the material characteristics of(More)
This paper presents the work in developing a high fidelity haptic device and virtual environment for playing billiards. The haptic device features a natural user interface to simulate realistic play of billiards. The paper also discusses the physics behind the virtual reality game, the kinematics and dynamics of the force feedback device and finally an(More)
An interactive tool has been developed for visualizing and creating scaled battlefield based scenarios for use in a simulation testbed to develop and test distributed data fusion and ad-hoc networking algorithms. This paper discuses the design requirements and implementation issues for developing such a tool. Two main design goals were to enable design of(More)
Recent growth of daVinci Robotic Surgical System as a minimally invasive surgery tool has led to a call for better training of future surgeons. In this paper, a new virtual reality simulator, called RoSS is presented. Initial results from two studies - face and content validity, are very encouraging. 90% of the cohort of expert robotic surgeons felt that(More)