A toolkit for haptic force feedback in a telerobotic ultrasound system.

Journal: BMC research notes
Published Date: Oct 24, 2021

Abstract

OBJECTIVE: To develop a collision engine (haptic force feedback simulator) compatible with a 5-degrees-of-freedom (DOF) haptic wand. This has broad applications such as telerobotic ultrasound systems. Integrating force feedback into systems is critical to optimize remote scanning. A collision engine compatible with a 5-DOF haptic wand was developed based on the Gilbert-Johnson-Keerthi algorithm. The collision engine calculated force during collision between the wand and a virtual object based on code developed using MATLAB. A proportional force was subsequently returned to a user via the haptic wand, thereby simulating the collision force for the user. Three experiments were conducted to assess the accuracy of the collision engine on curved and flat surfaces.

Authors

  • Reza Fotouhi
    Department of Mechanical Engineering, College of Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, S7N 5A9, Canada.
  • Atieh Najafi Semnani
    Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, S7N 5A9, Canada.
  • Qianwei Zhang
    Department of Mechanical Engineering, College of Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, S7N 5A9, Canada.
  • Scott J Adams
    College of Medicine, University of Saskatchewan, Saskatoon, Saskatchewan, Canada. Electronic address: scott.adams@usask.ca.
  • Haron Obaid
    Department of Medical Imaging, University of Saskatchewan, Saskatoon, Saskatchewan, Canada.

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