The Hand-Held Force Magnifier & One-Dimensional Haptic Rendering Using an Audio Speaker

The following work deals with the haptic problem, which resulting from the loss of tactile sense during delicate microsurgeries. One of the developments that solve this problem is the Hand-Held Force Magnifier (HHFM). The research presents a conceptual design of a quick change of tools to the HHFM third prototype and a development of a new prototype, the HHFM-4. The fourth HHFM prototype will replace the surgical scalpel, allowing haptic feedback from two axes and a Quick Release brace. In addition, the work presents the development of a One-Dimensional Haptic Renderer, based on an audio loudspeaker, which is an experimental platform made to examine both third and fourth HHFM prototypes. The One-Dimensional Haptic Renderer can resemble the interaction with delicate tissues during microsurgery.