Abstract
Integration of a tactile display onto the end effector of a robot allows free-hand exploration of an encountered-type environment that provides both kinesthetic and cutaneous feedback. A novel tactile display approach, called Haptic Jamming, uses a combination of particle jamming and pneumatics to control the stiffness and shape of a surface. The tactile display mounts to the cable-driven platform of a kinesthetic system for medical simulation, called KineSys MedSim. The parallel structure of the robot provides a high strength-to-weight ratio for kinesthetic feedback in combination with a spatially aligned visual display. Its controller uses hand tracking to move the platform to the portion of the workspace the user is reaching toward. Data from a lump localization simulation demonstrates that the integrated system successfully tracks the user’s hand and reconfigures the tactile display according to the location of the end effector.
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Acknowledgments
This work was supported by U.S. Army Medical Research and Materiel Command (USAMRMC; W81XWH-11-C-0050) and by a National Science Foundation Graduate Research Fellowship. The views, opinions, and/or findings contained in this report are those of the authors and should not be construed as an official Department of the Army position, policy or decision unless so designated by other documentation. The authors thank Timothy Judkins and James Gwilliam for their work developing the robot and tactile display.
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Stanley, A.A., Mayhew, D., Irwin, R., Okamura, A.M. (2014). Integration of a Particle Jamming Tactile Display with a Cable-Driven Parallel Robot. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8619. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44196-1_32
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DOI: https://doi.org/10.1007/978-3-662-44196-1_32
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