Search Results (3)

In this study, we developed a new haptic–mixed reality intravenous (HMR-IV) needle insertion simulation system, providing a bimanual haptic interface integrated into a mixed reality system with programmable variabilities considering real clinical environments. The system was designed for nursing students or healthcare professionals to practice IV needle insertion into a virtual arm with unlimited attempts under various changing insertion conditions (e.g., skin: color, texture, stiffness, friction; vein: size, shape, location depth, stiffness, friction). To achieve accurate hand–eye coordination under dynamic mixed reality scenarios, two different haptic devices (Dexmo and Geomagic Touch) and a standalone mixed reality system (HoloLens 2) were integrated and synchronized through multistep calibration for different coordinate systems (real world, virtual world, mixed reality world, haptic interface world, HoloLens camera). In addition, force-profile-based haptic rendering proposed in this study was able to successfully mimic the real tactile feeling of IV needle insertion. Further, a global hand-tracking method, combining two depth sensors (HoloLens and Leap Motion), was developed to accurately track a haptic glove and simulate grasping a virtual hand with force feedback. We conducted an evaluation study with 20 participants (9 experts and 11 novices) to measure the usability of the HMR-IV simulation system with user performance under various insertion conditions. The quantitative results from our own metric and qualitative results from the NASA Task Load Index demonstrate the usability of our system. Full article

A complete set of diverse haptic feedbacks is essential for a highly realistic and immersive virtual environment. In this sense, a multi-mode haptic interface that simultaneously generates multiple kinds of haptic signals is highly desirable. In this paper, we propose a new silicone-made pneumatically controlled fingertip actuator to render pressure and vibrotactile feedback concurrently to offer a realistic and effective haptic sensation. A new silicone-based stacked dual-layer air chamber was designed. The volume of the chambers is controlled by pneumatic valves with compressed air tanks. The top/upper air chamber renders vibration feedback, whereas the bottom/lower air chamber renders pressure feedback. The proposed silicone-made fingertip actuator is designed so that it can be easily worn at the fingertips. To demonstrate the potential of the system, a virtual environment for rendering three different types of haptic textures was implemented. Extensive performance evaluation and user studies were carried out to demonstrate the proposed actuator’s effectiveness compared to an actuator with single vibrotactile feedback. Full article

Most of the information a user obtains through a computer is visual and/or auditory. Providing synchronized haptic information in addition to visual and/or auditory information can significantly enhance user experience and perception of virtual objects. In this paper, we propose a pneumatically-controlled haptic mouse that can replace a conventional computer mouse and deliver multimodal haptic feedback using a single end-effector. The haptic mouse can deliver distinct haptic feedback, i.e., static pressure, high frequency vibrations, and impact response. It has a dual-layered silicone housing with two air chambers. The outer layer is stretchable, and when pumped with air, changes in size and delivers feedback directly to the hand. The inner layer is non-stretchable, and is used to hold the form of the haptic mouse. Various experiments were conducted to quantify the characteristics of haptic mouse. The haptic mouse can generate a static pressure of up to 0.6 Gs, vibrations up to 250 Hz, and provides a max actuation delay of 23 ms. Based on those characteristics, haptic geometry and texture rendering algorithms were developed. These algorithms were used to render virtual shapes and textures and were evaluated using a psychophysical experiment. The results show that participants were able to successfully identify the geometries and textures in most cases. Full article