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Comparison of walking and traveling-wave piezoelectric motors as actuators in kinesthetic haptic devices
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Microsystems Technology.
2016 (English)In: IEEE Transactions on Haptics, ISSN 1939-1412, E-ISSN 2329-4051, Vol. 9, no 3, 427-431 p.Article in journal (Refereed) Published
Abstract [en]

Piezoelectric motors offer an attractive alternative to electromagnetic actuators in portable haptic interfaces: they are compact, have a high force-to-volume ratio, and can operate with limited or no gearing. However, the choice of a piezoelectric motor type is not obvious due to differences in performance characteristics. We present our evaluation of two commercial, operationally different, piezoelectric motors acting as actuators in two kinesthetic haptic grippers, a walking quasi-static motor and a traveling wave ultrasonic motor. We evaluate each gripper's ability to display common virtual objects including springs, dampers, and rigid walls, and conclude that the walking quasi-static motor is superior at low velocities. However, for applications where high velocity is required, traveling wave ultrasonic motors are a better option.

Place, publisher, year, edition, pages
2016. Vol. 9, no 3, 427-431 p.
National Category
Human Computer Interaction Robotics
Research subject
Computerized Image Processing; Engineering Science with specialization in Microsystems Technology
Identifiers
URN: urn:nbn:se:uu:diva-262371DOI: 10.1109/TOH.2016.2537803ISI: 000384670000012PubMedID: 27046907OAI: oai:DiVA.org:uu-262371DiVA: diva2:853725
Funder
Vårdal FoundationVINNOVA
Available from: 2016-03-30 Created: 2015-09-14 Last updated: 2017-12-04Bibliographically approved
In thesis
1. Haptics with Applications to Cranio-Maxillofacial Surgery Planning
Open this publication in new window or tab >>Haptics with Applications to Cranio-Maxillofacial Surgery Planning
2015 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Virtual surgery planning systems have demonstrated great potential to help surgeons achieve a better functional and aesthetic outcome for the patient, and at the same time reduce time in the operating room resulting in considerable cost savings. However, the two-dimensional tools employed in these systems today, such as a mouse and a conventional graphical display, are difficult to use for interaction with three-dimensional anatomical images. Therefore surgeons often outsource virtual planning which increases cost and lead time to surgery.

Haptics relates to the sense of touch and haptic technology encompasses algorithms, software, and hardware designed to engage the sense of touch. To demonstrate how haptic technology in combination with stereo visualization can make cranio-maxillofacial surgery planning more efficient and easier to use, we describe our haptics-assisted surgery planning (HASP) system. HASP supports in-house virtual planning of reconstructions in complex trauma cases, and reconstructions with a fibula osteocutaneous free flap including bone, vessels, and soft-tissue in oncology cases. An integrated stable six degrees-of-freedom haptic attraction force model, snap-to-fit, supports semi-automatic alignment of virtual bone fragments in trauma cases. HASP has potential beyond this thesis as a teaching tool and also as a development platform for future research.

In addition to HASP, we describe a surgical bone saw simulator with a novel hybrid haptic interface that combines kinesthetic and vibrotactile feedback to display both low frequency contact forces and realistic high frequency vibrations when a virtual saw blade comes in contact with a virtual bone model. 

We also show that visuo-haptic co-location shortens the completion time, but does not improve the accuracy, in interaction tasks performed on two different visuo-haptic displays: one based on a holographic optical element and one based on a half-transparent mirror. 

Finally, we describe two prototype hand-worn haptic interfaces that potentially may expand the interaction capabilities of the HASP system. In particular we evaluate two different types of piezo-electric motors, one walking quasi-static motor and one traveling-wave ultrasonic motor for actuating the interfaces.

Place, publisher, year, edition, pages
Uppsala: Acta Universitatis Upsaliensis, 2015. 79 p.
Series
Digital Comprehensive Summaries of Uppsala Dissertations from the Faculty of Science and Technology, ISSN 1651-6214 ; 1289
Keyword
medical image processing, haptics, haptic rendering, haptic gripper, visuo-haptic co-location, vibrotactile feedback, surgery simulation, virtual surgery planning, cranio-maxillofacial surgery
National Category
Medical Image Processing Human Computer Interaction
Research subject
Computerized Image Processing
Identifiers
urn:nbn:se:uu:diva-262378 (URN)978-91-554-9339-4 (ISBN)
Public defence
2015-10-16, Room 2247, Polacksbacken, Lägerhyddsvägen 2, Uppsala, 10:00 (English)
Opponent
Supervisors
Available from: 2015-09-25 Created: 2015-09-14 Last updated: 2015-10-01Bibliographically approved

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Olsson, PontusNysjö, FredrikCarlbom, Ingrid B.Johansson, Stefan

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