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Full-Text Articles in Physical Sciences and Mathematics
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 …
Simulation Of Drilling In A Virtual Environment With Force Feedback, Fazel Naghdy, Yi Chen
Simulation Of Drilling In A Virtual Environment With Force Feedback, Fazel Naghdy, Yi Chen
Professor Fazel Naghdy
No abstract provided.
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 …