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Title:
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A HAPTIC DISPLAY FOR THE SIMULATION OF SOFT TISSUE PALPATION IN CHAI3D |
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Author(s):
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Jan Hergenhan, Heinz Wörn |
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ISBN:
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978-989-8533-52-4 |
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Editors:
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Katherine Blashki and Yingcai Xiao |
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Year:
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2016 |
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Edition:
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Single |
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Keywords:
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Haptic display, haptic feedback, CHAI3D, deformable body, mass-spring-model |
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Type:
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Full Paper |
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First Page:
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29 |
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Last Page:
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36 |
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Language:
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English |
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Cover:
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Full Contents:
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click to dowload 
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Paper Abstract:
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This paper presents a novel haptic input device for haptic feedback in soft tissue palpation. Our Haptic Display features seven pins mounted on compression springs that can be pre-loaded with servo motors. Each pin has a stroke of 10mm and a maximum counterforce of 1.1N. An additional force of 0.7N per pin can be applied by servo motors. This technique allows for simultaneous stimulation of kinesthetic as well as tactile perception. The control software of the haptic display has been implemented in the open-source haptics library CHAI3D. We extended the framework with an adapted Mesh Tool that realistically represents the hardware. Our simulation environment features a deformable mass-spring based virtual soft tissue with multiple adjustable parameters. We evaluated this software in a user study with 15 participants in order to demonstrate the usability of the haptic display. With 90% of successful hits, we are confident that sensible haptic feedback can be generated with the presented device. |
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