Search Results (6)

In this research paper, we have implemented a computer program thanks to the XML language to sense the differences in image color depth by using haptic/tactile devices. With the use of “Bump Map” and tools such as “Autodesk’s 3D Studio Max”, “Adobe Photoshop”, and “Adobe Illustrator”, we were able to obtain the desired results. The haptic devices used for the experiments were the “PHANTOM Touch” and the “PHANTOM Omni R” of “3D Systems”. The programs that were installed and configured properly so as to model the surfaces, run the experiments, and finally achieve the desired goal are “H3D Api”, “Geomagic_OpenHaptics”, and “OpenHaptics_Developer_Edition”. The purpose of this project was to feel different textures, shapes, and objects in images by using a haptic device. The primary objective was to create a system from the ground up to render visuals on the screen and facilitate interaction with them via the haptic device. The main focus of this work is to propose a novel pattern of images that we can classify as different textures so that they can be identified by people with reduced vision. Full article

Medical ultrasound is a widely used diagnostic imaging modality that provides real-time imaging at a relatively low cost. However, its widespread application is hindered by the need for expert operation, particularly in remote regional areas where trained sonographers are scarce. This paper presents the development of HaptiScan, a state-of-the-art telerobotic ultrasound system equipped with haptic feedback. The system utilizes a commercially available robotic manipulator, the UR5 robot from Universal Robots, integrated with a force/torque sensor and the Phantom Omni haptic device. This configuration enables skilled sonographers to remotely conduct ultrasound procedures via an internet connection, addressing both the geographic and ergonomic limitations faced in traditional sonography. Key innovative features of the system include real-time force feedback, ensuring that sonographers can precisely control the ultrasound probe from a remote location. The system is further enhanced by safety measures such as over-force sensing, patient discomfort monitoring, and emergency stop mechanisms. Quantitative indicators of the system’s performance include successful teleoperation over long distances with time delays, as demonstrated in simulations. These simulations validate the system’s control methodologies, showing stable performance with force feedback under varying time delays and distances. Additionally, the UR5 manipulator’s precision, kinematic, and dynamic models are mathematically formulated to optimize teleoperation. The results highlight the effectiveness of the proposed system in overcoming the technical challenges of remote ultrasound procedures, offering a viable solution for real-world telemedicine applications. Full article

This work aimed to develop a real-time test platform for systems associated with the tactile internet area. The proposal comprises a master device, a communication channel and a slave device. The master device is a tactile glove (wearable technology) that works as a tactile interface based on vibratory feedback. The master device can interact with virtual elements (local or remote). The Matlab/Simulink environment and a robotics toolbox form the communication channel and the slave device. The communication channel introduces a bidirectional connection of variable latency, and the slave device is defined as a robotic phantom omni manipulator emulated in Matlab/Simulink. The virtual robotic manipulator, the slave device, can generate different types of tactile sensations in the tactile glove, that is, in the master device. The platform can model tactile sensations such as coarse roughness, fine roughness, smoothness, dripping and softness. The proposed platform presented adequate results and can be used to test various algorithms and methods correlated to the tactile internet. Full article

The general purpose of this study is to promote access to haptic virtual environments. Using a haptic device, people with and without visual impairments (VI) are able to feel different textures and compare these textures based on different surface properties, i.e., friction and hardness. The objectives of this study were to examine the following: (a) whether the variables of friction and hardness were identifiable through the Touch device (Phantom Omni) and could therefore function as 3D haptic variables; (b) if there were differences between people with VI and sighted individuals in terms of their performance; (c) the differences that should exist between the values of each variable so that the virtual surfaces could be identified as different to each other; and (d) if the individual characteristics of participants have an impact on their performance. The results showed that it is necessary to use surfaces which are differentiated based on the degree of friction and hardness because the haptic properties of a virtual object are then better perceived. Individuals with VI need more time and more effort to understand friction and hardness, respectively. With the motivation of increasing access to object perception for people with VI in a virtual environment, accessibility advisors and experts can extract useful information for the development of functional and efficient 3D objects for haptic perception. Full article

A simple dual-band patch antenna with paired L-shap slots for on- and off-body communications has been presented in this article. The proposed antenna resonates in the industrial, scientific, and medical (ISM) band at two different frequencies, at 2.45 GHz and 5.8 GHz. At the lower frequency band, the antenna’s radiation pattern is broadsided directional, whereas it is omni-directional at the higher frequency band. The efficiency and performance of the proposed antenna under the influence of the physical body are improved, and the specific absorption rate (SAR) value is significantly reduced by creating a full ground plane behind the substrate. The substrate’s material is FR-4, the thickness of which is 1.6 mm and it has a loss tangent of $tan\delta$ = 0.02. The overall size of the proposed design is 40 mm × 30 mm × 1.6 mm. Physical phantoms, such as skin, fat and muscle, are used to evaluate the impact of physical layers at 2.45 GHz and 5.8 GHz. The SAR values are assessed and found to be 0.19 W/kg and 1.18 W/kg at 2.45 GHz and 5.8 GHz, respectively, over 1 gram of mass tissue. The acquired results indicate that this antenna can be used for future on- and off-body communications and wireless services. Full article

Keytar is a plucked guitar simulation mockup developed with Unity3D that provides auditory, visual, and haptic feedback to the player through a Phantom Omni robotic arm. Starting from a description of the implementation of the virtual instrument, we discuss our ongoing work. The ultimate goal is the creation of a set of software tools available for developing plucked instruments in Unity3D. Using such tools, sonic interaction designers can efficiently simulate plucked string prototypes and realize multisensory interactions with virtual instruments for unprecedented purposes, such as testing innovative plucked string interfaces or training machine learning algorithms with data about the dynamics of the performance, which are immediately accessible from the machine. Full article