Previous works have presented solutions for stability problems arising from the diierence between the sampling rate requirements for haptic devices (about 1 KHz) and the update rates of the physical objects being simulated (about 10 Hz). These methods work well when the objects are convex and non-deformable but when the object is deformable these methods might fail in obtaining realistic force ...

The haptic stencil consists of a 5 DOF haptic device and an anti-collision algorithm that acts as a geometric stencil and can be used for a variety of applications ranging from training to rapid prototyping and manufacturing. Online manipulation of a three-axis desktop milling machine was established using this setup. This work describes the algorithm design used to achieve the required perform...

This paper describes research exploring the use of haptics to support users collaborating remotely in a single-user shared application. Mediation of turn-taking during remote collaboration provides a context to explore haptic affordances for background communication as well as control negotiation in remote collaboration: existing turn-taking protocols are rudimentary, lacking many communication...

This paper proposes a pseudo-haptic feedback method conveying simulated soft surface stiffness information through a visual interface. The method exploits a combination of two feedback techniques, namely visual feedback of soft surface deformation and control of the indenter avatar speed, to convey stiffness information of a simulated surface of a soft object in virtual environments. The propos...

Bone dissection is an important component of many surgical procedures. In this paper, we discuss adaptive techniques for providing real-time haptic and visual feedback during a virtual bone dissection simulation. The simulator is being developed as a component of a training system for temporal bone surgery. We harness the difference in complexity and frequency requirements of the visual and hap...

A simulation-based training system for surgical wound debridement was developed and comprises a multimedia introduction, a surgical simulator (tutorial component), and an assessment component. The simulator includes two PCs, a haptic device, and mirrored display. Debridement is performed on a virtual leg model with a shallow laceration wound superimposed. Trainees are instructed to remove debri...

This paper presents a two-part study of the effects of maximum endpoint force and system bandwidth on haptic perception. First, size identification experiments were performed to determine the effects of system quality, in terms of these two system parameters, on the ability of a human to identify square cross-section ridges by size in a simulated environment. Then, discrimination experiments we...

The carillon is one of the few instruments that elicit sophisticated haptic interaction from amateur and professional players alike. Like the piano keyboard, the velocity of a player’s impact on each carillon key, or baton, affects the quality of the resultant tone; unlike the piano, each carillon baton returns a different forcefeedback. Force-feedback varies widely from one baton to the next a...