Improved Transparency for Haptic Systems with Complex Environments

TY - JOUR

T1 - Improved Transparency for Haptic Systems with Complex Environments

AU - Forbrigger, Shane

AU - Ya-Jun Pan, and

N1 - Funding Information: 1. INTRODUCTION 1. INTRODUCTION 1. INTRODUCTION Haptic devices allfflΦ an fflperatfflr tffl perceive ffflrces Haptic devices allfflΦ an fflperatfflr tffl perceive ffflrces Hapfflr taticctiledevsiecesnsatifflallnsfflΦfrfflanmfflpvirtuaeratfflrl ffltrfflrepmercfflteeiveenvffflrirfflcesn- fflmrenttasc,tΦileithsepnfflstaetniffltinasl afprfflpmlicavtiirffltnusailn ffltrairneimngffltfefflresnuvrigrfflerny-fflr tactile sensatifflns frfflm virtual fflr remfflte envirffln-manedntase, rΦfflsitphacpeffl,trefflnbtifflatlicaptpelleicfflapteifflrantsifflinn,taranidninengtfefflrrtasiunrmgeenryt ments, Φith pffltential applicatifflns in training ffflr surgery aΞDndanaieearffluspetacael,., r2ffl0b1ffl3t∆i.c Htealpetfflipceirnatteifflrfna,ceasnadreenffltferptaaritnimcuelnatr and aerfflspace, rfflbffltic telefflperatiffln, and entertainment ΞinDtaerneisetauinetvairlt.,u2a0l 1s3u∆r.gHicapl tticraiinntienrgfasciems ualraetfflfflrfs,paΦrhtiecruelaar ΞDanieau et al., 2013∆. Haptic interfaces are fflf particular itnrateinreesetsuinrgvefflirntuinatlesruacrgtsicΦalithtraainviinrtguaslimenuvlairtfflfflnrsm, eΦntheΞrΛeEa∆ interest in virtual surgical training simulatfflrs, Φhere a trreapirneesenstuirnggefflanpianttieernatctvsiaΦiathhaapvtiirctudaelveicnevirrefflpnrmeseenttiΞnΛgEa∆ trainee surgeffln interacts Φith a virtual envirfflnment ΞΛE∆ repalressuerngticinagl tafflfflpl.aItniesnutrvgiicaaal thraaipntiincgdaepvpilciecarteipfflnressaecnctuinrgatae representing a patient via a haptic device representing a rfffleraclesufregeidcablatcfflΩfflli.mInprsffluvregsicatrlatirnaiinngingpaerpfpffllrimcaatnifflcnes ΞaWccaugrnaeter real surgical tfflffll. In surgical training applicatifflns accurate fafflnrdceHfflfeΦeed,b2a0c0Ω5∆i.mTphrfflevheasptricaiinitnegrfapceerfmfflrumstabnecestΞaWblaegannedr ffflrce feedbacΩ imprfflves training perffflrmance ΞWagner atrnadnsHpfflaΦreen,t20fffl0r5∆a.cTcuhreatheafpffltricceinfeteedrfbaacceΩm. ust be stable and transparent ffflr accurate ffflrce feedbacΩ. The stability fflf discrete-time linear time-invariant ΞLTI∆ The stability fflf discrete-time linear time-invariant ΞLTI∆ The stability fflf discrete-time linear time-invariant ΞLTI∆ ΛinElsitienrtaetruarcet.inCg fflΦlgitahtehaapntdic SdcehveicneΩsehl aΞs1b99e4en∆ Φderllivceffldverthede ΛEs interacting Φith haptic devices has been Φell cfflvered isntabliitleitryatcurritee.riCfflnffllfgfflarteLTaInΛdESscuhnedneΩrelunΞi1l9a9te4r∆aldcefflrnivsetdraitnhtes in literature. Cffllgate and SchenΩel Ξ1994∆ derived the sbtaasbeidlityfflncrittheerifflinnhffflerreLnTt I dΛaEmspuinngderfflfuntihlaetehraalpctifflcnsdtreaviinctes. stability criteriffln ffflr LTI ΛEs under unilateral cfflnstraints bDaifflseladitifflnet tahle. Ξi2n0h0e6r∆enetxtdenamdepdintghisfflfcrtihteerifflhnapttffliccffldnesviidcer. baDifflseladitifflnettheal.Ξ2inhe006re∆netxtedandempingdthisfflfcritetherifflhanptictfflcffldensvicideer. Dquifflalnatiitziaetitfflnal.aΞn2d00C6∆ffluelxffltmenbdefdrictthifflisn.criHtefflrΦifflenvetrffl, cstfflanbsiilditeyr Diffllaiti et al. Ξ2006∆ extended this criteriffln tffl cfflnsider qalufflannetiizsaitnifflsunffiacniedntCtffluplfflrfflmvbidefruicsteiffflunl.haHpffltΦicefveerd,bsatcaΩb.ility quantizatiffln and Cfflulfflmb frictiffln. HfflΦever, stability alfflne is insufficient tffl prfflvide useful haptic feedbacΩ. Transparency is a measure fflf the accuracy fflf haptic feed-Transparency is a measure fflf the accuracy fflf haptic feed-Transparency is a measure fflf the accuracy fflf haptic feed-bffflarccΩe,fueesudablalycΩmaenadsuthreedaacstutahlefffldrifcferfeenedcebabceΩt.ΦUeepndathtee ridateeasl bacΩ, usually measured as the difference betΦeen the ideal fnffleracre1fe0e0d0bHaczΩaarnednethceesasactruyatlfflffflmrcaexifmeeidzbeatchΩe. tUrapndsaptaerreantceys ffflrce feedbacΩ and the actual ffflrce feedbacΩ. Update rates nfflfeahrap10ti0c0inHtzerafarecense. cHesfflsΦaervyetrffl, smuragxiicmalizseimthuelattriafflnspraerqeunicrye near 1000 Hz are necessary tffl maximize the transparency fflcfflfmhappletxic iΛnEtesrfaΦcietsh. HirfflrΦegeuvlearr,,sudregfifflcraml asibmleu,laatniffldnscuretq-aubirlee fflf haptic interfaces. HfflΦever, surgical simulatifflns require chffligmhp-rleexsffllΛutEifflsnΦmitfflhdeilrsreΦghuilcahr,cadneffflbremdaibffliec,ulatntdffl sciumtu-alabtlee cfflmplex ΛEs Φith irregular, deffflrmable, and cut-able hatighsu-rcehsfflaluthiifflgnh mupfflddealtseΦrhaticehΦciatnhfflbuet dhiifgfihcu-elnt dtfflcfflsimpuulateter high-resffllutiffln mffldels Φhich can be difficult tffl simulate ahtarsduΦcahreaΞZheigrhbautfflpdaantde FriaffltreinΦi,i2th0ffl1u6∆t. hTihgher-eefnffldrectfflhmepcuffltmer-at such a high update rate Φithfflut high-end cfflmputer hpaurtdatΦifflanre fflΞZf etrhbeatΛffl EanddyFniafflmriincis, 2in01tr6ffl∆d. uTcheesrenffflfflnre-ntehgelicgfflibmle-hardΦare ΞZerbatffl and Fifflrini, 2016∆. Thereffflre the cfflm-pdueltaaytiafflndfflsfamthpelinΛgEefdfeycntsaminitcffls tihnetrcfflffldnutcrefflsl pnrfflfflnb-lneemg.ligible putatiffln fflf the ΛE dynamics intrfflduces nffln-negligible ★delay and sampling effects intffl the cfflntrffll prfflblem. ★deTlahyisawnodrkswaams psulipnpgoreteffdecbtysNiSnEtfflRCthaendcffltnhetrGfflolvperrnfflmbleenmt o.f Nova ★ This work was supported by NSERC and the Government of Nova S★coTthiais, wCoarnkadwaa.s supported by NSERC and the Government of Nova Scotia,This wCanada.ork was supported by NSERC and the Government of Nova Scotia, Canada. Scotia, Canada. Publisher Copyright: © 2017

PY - 2017/7

Y1 - 2017/7

UR - http://www.scopus.com/inward/record.url?scp=85031813680&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85031813680&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2017.08.1251

DO - 10.1016/j.ifacol.2017.08.1251

M3 - Article

AN - SCOPUS:85031813680

SN - 2405-8963

VL - 50

SP - 8121

EP - 8126

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 1

ER -