Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

@article{Li2014MultifingeredHP,
  title={Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators},
  author={Min Li and Tommaso Ranzani and Sina Sareh and Lakmal D. Seneviratne and Prokar Dasgupta and Helge A. Wurdemann and Kaspar Althoefer},
  journal={Smart Materials and Structures},
  year={2014},
  volume={23},
  pages={095007}
}
This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in… Expand
A Variable Stiffness Robotic Probe for Soft Tissue Palpation
TLDR
The mechanical model of the novel probe, the finite element simulation as well as experimental characterization of the stiffness response for lever actuation are presented. Expand
Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery
TLDR
This paper presents an alternative approach that enables the surgeon to feel fingertip contact deformations and vibrations while guaranteeing the teleoperator's stability, and implemented this solution on an Intuitive Surgical da Vinci Standard robot. Expand
Stiffness rendering on soft tangible devices controlled through inverse FEM simulation
TLDR
A tangible deformable device is created that allows users to “touch” soft tissues and perceive mechanical material properties, in a realistic manner, and uses antagonistic actuation principle to create a wide range of stiffness. Expand
A Haptic Feedback Actuator Suitable for the Soft Wearable Device
TLDR
In this study, a novel electro-hydraulic soft actuator was designed and manufactured, and a more realistic tactile sensation could be realized, similar to that obtained when a human directly grabs objects. Expand
Concept Development of Fixed Geometry Tactile Display using Granular Jamming
TLDR
A hemispherically combined display nodule having different thickness and material for the contact and actuation portions of the sphere can provide a controllable tactile display while maintaining its dimension. Expand
Perception by Palpation: Development and Testing of a Haptic Ferrogranular Jamming Surface
TLDR
Results show that the concept can render irregularities with different position, form, and hardness, and that users are able to locate and characterize these through palpation, and indicates the concepts feasibility as a palpation training device. Expand
Mathematical Relationship Between Palpation Forces and Displacement Associated With Restriction
TLDR
To better understand the haptic perception of clinicians who use palpation to assist in their assessment of patients with low back pain, a mathematical model was developed that characterized the palpation forces and the associated deformation/displacement of the surface of the body when osteopathic clinicians examine the low back or lumbar spine region. Expand
Attention Enhancement for Exoskeleton-Assisted Hand Rehabilitation Using Fingertip Haptic Stimulation
TLDR
It is concluded that haptic stimulations increase the involvement level of human subjects during exoskeleton-assisted hand exercises and may better attract user’s attention during treatment. Expand
Material stiffness control of compliant tools by using electromagnetic suction
  • M. Zeng, Yujia Li, Tao Ren, Qing Tu
  • Computer Science
  • Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
  • 2019
TLDR
A method for controlling the stiffness of materials for compliant tools, such as grippers, soft robots, and endoscopes, which has the ability of quickly increasing the stiffness with increased current in the coils that create electromagnetic suction. Expand
Hybrid fluidic actuation for a foam-based soft actuator
TLDR
The novel idea of employing hybrid fluidic - hydraulic and pneumatic - actuation for soft robotic systems is presented and it is found that a higher percentage of hydraulics resulted in a higher output force. Expand
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 49 REFERENCES
Haptics for Multi-fingered Palpation
TLDR
The results prove that the interaction stress between the fingertip and the soft tissue as well as the deformation of fingertips during palpation can be recreated by using the pneumatic multi-fingered haptic feedback method. Expand
Pneumatic balloon actuators for tactile feedback in robotic surgery
TLDR
A pneumatic balloon‐based system has been developed to provide tactile feedback to the fingers of the surgeon during robotic surgery and has been mounted directly onto the da Vinci surgical system. Expand
Optimization of a Pneumatic Balloon Tactile Display for Robot-Assisted Surgery Based on Human Perception
TLDR
A compact, flexible, and lightweight pneumatic balloon tactile display has been developed suitable for mounting on robotic surgical master controls to provide the effective tactile feedback that is otherwise unavailable during robotic surgery. Expand
Palpation imaging using a haptic system for virtual reality applications in medicine.
TLDR
A real time strain imaging system for tumor diagnosis that allows biopsies simultaneously to conventional ultrasound B-Mode and strain imaging investigations, and deduce the relative mechanical properties by using finite element simulations and numerical solution models solving the inverse problem. Expand
Wearable haptic display by the use of a Particle Mechanical Constraint
TLDR
A wearable haptic display that provides a sensation of contacting a wall and moving in water with viscosity is developed and an upper-limb orthotic that constrains shoulder and elbow movements is developed. Expand
Medical palpation of deformable tissue using physics-based model for haptic interface robot (HIRO)
TLDR
A virtual reality training for breast palpation simulation was created utilizing the newly designed multi-fingered haptic interface robot (HIRO) and a physically based modeling is achieved by using a finite element method (FEM) that provides correct reaction forces and deformations of a virtual deformable object. Expand
Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling
TLDR
The design of a snake-like laboratory made soft robot manipulator of 20 mm in average diameter is presented, which can actuate, soften, or stiffen joints independently along the length of the manipulator by combining granular jamming with McKibben actuators. Expand
Palpation instrument for augmented minimally invasive surgery
TLDR
A piezoelectric sensor array attached to the instrument's end effector provide tactile information, which is sent to the surgeon's fingers via a tactile display to provide a feeling of the shape and hardness of the tissue. Expand
Real-time area-based haptic rendering and the augmented tactile display device for a palpation simulator
TLDR
The experimental results show that compared to the point contact, the area contact provides the user with more precise perception of the shape and softness of the object's composition, and that the proposed system satisfies the real-time and realism constraints to be useful for a virtual reality application. Expand
Stimulation current control for load-aware electrotactile haptic rendering: Modeling and simulation
TLDR
The modeling and control results based on the generalized model are shown to be preliminarily valid from simulation when compared to experimental results and will be useful in developing a smart load — aware electrotactile haptic rendering system that is capable of adapting the stimulation current from changing electro-bioimpedance conditions of the fingertip skin. Expand
...
1
2
3
4
5
...