Next Article in Journal
A Novel Modelling Approach for Condensing Boilers Based on Hybrid Dynamical Systems
Previous Article in Journal / Special Issue
Design and Analysis of a Haptic Device Design for Large and Fast Movements
Open AccessArticle

One-Dimensional Haptic Rendering Using Audio Speaker with Displacement Determined by Inductance

by Avin Khera 1,†, Randy Lee 1,†, Avi Marcovici 1,2,†, Zhixuan Yu 3,†, Roberta Klatzky 4, Mel Siegel 5, Sanjeev G. Shroff 1 and George Stetten 1,3,5,*,†
1
Bioengineering Department, University of Pittsburgh, 302 Benedum Hall, Pittsburgh, PA 15261, USA
2
Mechanical Engineering Department, ORT Braude Academic College of Engineering, Snunit St 51, Karmiel 2161002, Israel
3
Biomedical Engineering Department, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA
4
Psychology Department, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA
5
Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Academic Editor: David Mba
Machines 2016, 4(1), 9; https://doi.org/10.3390/machines4010009
Received: 30 November 2015 / Revised: 29 February 2016 / Accepted: 11 March 2016 / Published: 21 March 2016
(This article belongs to the Special Issue Mechanisms and Machinery for Haptic Interaction and Rendering)
We report overall design considerations and preliminary results for a new haptic rendering device based on an audio loudspeaker. Our application models tissue properties during microsurgery. For example, the device could respond to the tip of a tool by simulating a particular tissue, displaying a desired compressibility and viscosity, giving way as the tissue is disrupted, or exhibiting independent motion, such as that caused by pulsations in blood pressure. Although limited to one degree of freedom and with a relatively small range of displacement compared to other available haptic rendering devices, our design exhibits high bandwidth, low friction, low hysteresis, and low mass. These features are consistent with modeling interactions with delicate tissues during microsurgery. In addition, our haptic rendering device is designed to be simple and inexpensive to manufacture, in part through an innovative method of measuring displacement by existing variations in the speaker’s inductance as the voice coil moves over the permanent magnet. Low latency and jitter are achieved by running the real-time simulation models on a dedicated microprocessor, while maintaining bidirectional communication with a standard laptop computer for user controls and data logging. View Full-Text
Keywords: haptics; loudspeaker; speaker; inductance; displacement; surgery; microsurgery haptics; loudspeaker; speaker; inductance; displacement; surgery; microsurgery
Show Figures

Figure 1

MDPI and ACS Style

Khera, A.; Lee, R.; Marcovici, A.; Yu, Z.; Klatzky, R.; Siegel, M.; Shroff, S.G.; Stetten, G. One-Dimensional Haptic Rendering Using Audio Speaker with Displacement Determined by Inductance. Machines 2016, 4, 9.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop