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

Machines

Avi Marcovici¹  Avin Khera¹  Randy Lee¹  Sanjeev G. Shroff¹  George Stetten¹  Zhixuan Yu²  Roberta Klatzky³  Mel Siegel⁴ 

[1] Bioengineering Department, University of Pittsburgh, 302 Benedum Hall, Pittsburgh, PA 15261, USA;Biomedical Engineering Department, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA;Psychology Department, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA;Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA;

关键词: haptics;    loudspeaker;    speaker;    inductance;    displacement;    surgery;    microsurgery;   

DOI  :  10.3390/machines4010009

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown