Design of a haptic arm exoskeleton for training and rehabilitation (original) (raw)

Simulation and Training with Haptic Feedback - A Review

Recent advances in haptic technology have broadened the applicability spectrum of haptic devices and the potential of prototype development for commerce. This article provides a review of the available haptic technologies and associated hardware/software characteristics. We compare haptic devices from the hardware perspective. We present the main features of existing haptic APIs as well as the trend in haptic applications development. We examine several case studies to demonstrate the effectiveness of haptic devices.

Design Issues and Requirements of a general purpose desktop haptic interface

Haptics is a complement to visual and auditory perception for a more complete experience of being in an environment, be it real, remote, or virtual. Haptic interface allows users to interact with the environment through touch or manipulation. Many of these devices have been built in the recent years. This paper reviews the design requirements of a haptic device in pursuit of a haptic interface that provides a more realistic sensation to the user. Two popular haptic devices: the PHANToM and the DELTA haptic devices are discussed.

Haptic Human-Computer Interaction

Lecture Notes in Computer Science, 2001

This paper presents a short review of the history surrounding the development of haptic feedback systems, from early manipulators and telerobots, used in the nuclear and subsea industries, to today's impressive desktop devices, used to support real-time interaction with 3D visual simulations, or Virtual Reality. Four examples of recent VR projects are described, illustrating the use of haptic feedback in ceramics, aerospace, surgical and defence applications. These examples serve to illustrate the premise that haptic feedback systems have evolved much faster than their visual display counterparts and are, today, delivering impressive peripheral devices that are truly usable by non-specialist users of computing technology.

Telerehabilitation: Controlling haptic virtual environments through handheld interfaces

Proceedings of the ACM …, 2004

This paper presents a telerehabilitation system for kinesthetic therapy (treatment of patients with arm motion coordination disorders). Patients can receive therapy while being immersed in a virtual environment (VE) with haptic feedback. Our system is based on a Haptic Workstation that provides force-feedback on the upper limbs. One of our main contributions is the use of a handheld device as the main interface for the therapist. The handheld allows for monitoring, adapting and designing exercises in real-time (dynamic VE). Visual contact with the patient is kept by means of a webcam.

Haptic assistance in virtual environments for motor rehabilitation

2010

This paper presents the MIMICS MMS rehabilitation system with a virtual rehabilitation task that includes several modes of haptic assistance. We observed the influence of these different modes of assistance on task performance and work performed toward the target during the pick-and-place movement. Twenty-three hemiparetic subjects and a control group of twenty-three subjects participated in the study. The haptic assistance resulted in improved task performance and lower work performed during pick-and-place movement.

Design and validation of a complete haptic system for manipulativetasks

Advanced Robotics, 2006

The present work deals with the design, implementation and assessment of a new haptic system specifically conceived for manipulative tasks in virtual environments. Such a system was designed by taking into account specific issues related to fine manipulation, such as multipoint haptics, coherence, transparency and physical representation. The haptic system described herein is integrated with a virtual environment engine for the simulation of multifinger manipulation. A preliminary evaluation of the system was conducted by comparing human performance in the manipulation of virtual objects with respect to real objects, according to the data available in the literature. The experiments confirm how the most relevant relationships among physiological and physical parameters involved in manipulation are also preserved during virtual manipulation. However, an indepth analysis of the results shows that simulation parameters affect the level of force control during virtual manipulation and the quality of the perceived force feedback.

Haptic Systems in User Interfaces

Proceedings of the 2019 ACM Southeast Conference, 2019

Over the past decade, the advancements in force-feedback (haptic) systems, facilitated the inclusion of the tactile communication channel in a variety of user interfaces. Tactile sensors are distributed over the entire human body, hence a diversity of haptic hardware configurations are possible. The applications span from: force-feedback systems-conveying large forces, to vibrotactile systems-conveying smaller forces to the human sensory system. This paper provides a comprehensive survey of state-of-the-art in force-feedback and vibrotactile hardware with references to associated software. The main application domains, several prominent applications, as well as significant research efforts are highlighted. Additionally the survey defines the terms and the paradigms used in the haptic technology domain. CCS CONCEPTS • Human-centered computing → Haptic devices • Hardware → Tactile and hand-based interfaces