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Issues in the haptic display of tool use
Abstract
Our group is interested in using haptic display for training tool use. Applications include training doctors to use tools during surgery, and training astronauts to use tools during EVA. This paper describes some of the challenges of creating realistic haptic perceptions of tool use. Many of these challenges stem from the importance of unilateral constraints during tool use. Unilateral constraints occur whenever rigid bodies collide, resisting the interpenetration of the bodies, but not holding the bodies together. To identify unilateral constraints, a tool/environment simulation must perform collision detection. To respond properly to a collision, the simulation must estimate the forces that ensue, and integrate the equations of motion. All of these computations must occur in real time, and the simulation as a whole must be stable (to ensure the user's safety). Approaches to these problems are described.
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Cited by
STRANDS: Interactive Simulation of Thin Solids using Cosserat Models
Pai, D. K. (2002) · Computer Graphics Forum · doi:10.1111/1467-8659.00594 · Cited by 317
The design and testing of a force feedback dental simulator
Thomas, G., Johnson, L., Dow, S., & Stanford, C. (2001) · Computer Methods and Programs in Biomedicine · doi:10.1016/s0169-2607(00)00089-4 · Cited by 73
Evaluation of a Virtual Reality Percutaneous Nephrolithotomy (PCNL) Surgical Simulator
Sainsbury, B., Łącki, M., Shahait, M., Goldenberg, M., Baghdadi, A., Cavuoto, L., Ren, J., Green, M., Lee, J., Averch, T. D., et al. (2020) · Frontiers in Robotics and AI · doi:10.3389/frobt.2019.00145 · Cited by 37
Metadata
- Authors
- Colgate, J. E., Stanley, M. C., & Brown, J. M.
- Venue
- Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-11-19
- Volume
- 3
- Pages
- 140-145
- OpenAlex
- W2144415816
- Cited by
- 404
- References
- 0
- FWCI
- 42.21
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Colgate, J. E., Stanley, M. C., & Brown, J. M. (2002). Issues in the haptic display of tool use. Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots. https://doi.org/10.1109/iros.1995.525875
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