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Full-Text Articles in Physical Sciences and Mathematics
Haptic Carillon: A Computationally Enhanced Mechanical Performing Instrument, Mark Havryliv, Fazel Naghdy, Greg Schiemer, Timothy Hurd
Haptic Carillon: A Computationally Enhanced Mechanical Performing Instrument, Mark Havryliv, Fazel Naghdy, Greg Schiemer, Timothy Hurd
Greg Schiemer
This paper describes the development of a haptic device for emulating the sonic and haptic dynamics of a carillon, specifically the National Carillon in Canberra, Australia. The carillon is one of only a few instruments that elicit a sophisticated haptic response from the amateur and professional player alike. Force-feedback varies widely across the range of the instrument and developing an intuition for the heaviness of different bells is a critical part of carillon pedagogy. Unfortunately, rehearsal time available to individual carillonneurs is limited by competition from other carillonneurs and environmental factors like civic noise limits and carillon maintenance schedules. Rehearsal …
Six D.O.F Haptic Rendered Simulation Of The Peg-In-Hole Assembly, Shen Dong, Fazel Naghdy, Yan Chen
Six D.O.F Haptic Rendered Simulation Of The Peg-In-Hole Assembly, Shen Dong, Fazel Naghdy, Yan Chen
Professor Fazel Naghdy
A new paradigm for programming of robotics manipulator to perform complex constrained motion tasks is being studied. The teaching of the manipulation skills to the machine starts by demonstmting those skills in a haptic -rendered virtual environment. Position and contact force and torque data generated in the virtual environment combined with a priori knowledge about the task is used to identify and learn the skills in the newly demonstrated tasks and then to reproduce them in the robotics system. The peg-in-hole insertion problem is used as a case study. In the ftrst implementation of the virtual manipulahon envlfonment, a three …
Skill Acquisition From A Haptic Rendered Virtual Environment For Automatic Assembly, Yuxin Chen, Fazel Naghdy
Skill Acquisition From A Haptic Rendered Virtual Environment For Automatic Assembly, Yuxin Chen, Fazel Naghdy
Professor Fazel Naghdy
No abstract provided.
Geometric Modelling Of A Haptic Rendered Computer Simulator For Cochlea Implantation, Catherine Todd, Fazel Naghdy, S J O'Leary
Geometric Modelling Of A Haptic Rendered Computer Simulator For Cochlea Implantation, Catherine Todd, Fazel Naghdy, S J O'Leary
Professor Fazel Naghdy
No abstract provided.
Manipulation Skills Acquisition Through A Haptic Rendered Virtual Environment, Yan Chen, Fazel Naghdy
Manipulation Skills Acquisition Through A Haptic Rendered Virtual Environment, Yan Chen, Fazel Naghdy
Professor Fazel Naghdy
No abstract provided.
Haptic Carillon: A Computationally Enhanced Mechanical Performing Instrument, Mark Havryliv, Fazel Naghdy, Greg Schiemer, Timothy Hurd
Haptic Carillon: A Computationally Enhanced Mechanical Performing Instrument, Mark Havryliv, Fazel Naghdy, Greg Schiemer, Timothy Hurd
Professor Fazel Naghdy
This paper describes the development of a haptic device for emulating the sonic and haptic dynamics of a carillon, specifically the National Carillon in Canberra, Australia. The carillon is one of only a few instruments that elicit a sophisticated haptic response from the amateur and professional player alike. Force-feedback varies widely across the range of the instrument and developing an intuition for the heaviness of different bells is a critical part of carillon pedagogy. Unfortunately, rehearsal time available to individual carillonneurs is limited by competition from other carillonneurs and environmental factors like civic noise limits and carillon maintenance schedules. Rehearsal …
Geometric & Haptic Modelling Of Textile Artifacts, Fazel Naghdy, Diana Wood Conroy, Hugh Armitage
Geometric & Haptic Modelling Of Textile Artifacts, Fazel Naghdy, Diana Wood Conroy, Hugh Armitage
Professor Fazel Naghdy
Geometric modelling and haptic rendering of textiles is an area of research in which interest has significantly increased over the last decade. A haptic representation is created by adding the physical properties of an object to its geometric configuration. While research has been conducted into geometric modelling of fabrics, current systems require textile data to be manually entered into the computer simulation by a technician. This study explores the possibility of automatic generation of geometric and haptic models of real world textile samples. The development of a scalable and generic methodology for geometric and haptic modelling of plain weave textiles …
Human-To-Robot Skill Transfer Through Haptic Rendered Environment, Yan Chen, Fazel Naghdy
Human-To-Robot Skill Transfer Through Haptic Rendered Environment, Yan Chen, Fazel Naghdy
Professor Fazel Naghdy
A new paradigm for programming of robotics manipulator is being studied. The teaching of the machine will begin with the necessary skills being demonstrated by the human operator in a virtual environment with tactile sensing (haptics). Position and contact force/torque data generated in the virtual environment combined with a priori knowledge about the task will be used to identify and learn the skills in the newly demonstrated tasks and then to reproduce them in the robotics system. The peg-in-hole insertion problem is used as a case study. The overall concept is described. The methodologies developed to build the virtual environment …
Real-Time Haptic Modeling And Simulation For Prosthetic Insertion, Catherine A. Todd, Fazel Naghdy
Real-Time Haptic Modeling And Simulation For Prosthetic Insertion, Catherine A. Todd, Fazel Naghdy
Professor Fazel Naghdy
In this work a surgical simulator is produced which enables a training otologist to conduct a virtual, real-time prosthetic insertion. The simulator provides the Ear, Nose and Throat surgeon with real-time visual and haptic responses during virtual cochlear implantation into a 3D model of the human Scala Tympani (ST). The parametric model is derived from measured data as published in the literature and accounts for human morphological variance, such as differences in cochlear shape, enabling patient-specific pre- operative assessment. Haptic modeling techniques use real physical data and insertion force measurements, to develop a force model which mimics the physical behavior …
3d Geometric And Haptic Modeling Of Hand-Woven Textile Artifacts, Hooman Shidanshidi, Fazel Naghdy, Golshah Naghdy, Diana Wood Conroy
3d Geometric And Haptic Modeling Of Hand-Woven Textile Artifacts, Hooman Shidanshidi, Fazel Naghdy, Golshah Naghdy, Diana Wood Conroy
Professor Fazel Naghdy
Haptic Modeling of textile has attracted significant interest over the last decade. In spite of extensive research, no generic system has been proposed. The previous work mainly assumes that textile has a 2D planar structure. They also require time-consuming objective measurement of textile propel1ies in mechanicaVphysjcal model constrUction. A novel approach for haptic modeling of textile is proposed to overcome the existing shortcomings. The method is generic, assumes a 3D structure textile artifact, and deploys computational intelligence to estimate textile mechanical and physical properties. The approach is designed primarily for display of textile artifacts in museums. The haptic model is …