| On 2019-01-31 at 15:00:00 (Brussels Time) |
Abstract
Haptic feedback is crucial to immersive experience in virtual reality and virtual surgery applications. In virtual surgery especially in palpation surgery, it is important for surgeons to perceive tissue stiffness. This talk presents a novel magnetic levitation (maglev) haptic device based on electromagnetic principles to enhance the perception of tissue stiffness in a virtual environment. The user can directly sense virtual tissues by moving a magnetic stylus in the magnetic field generated by the coil array of the device. A control interface circuit is designed and a self-adaptive fuzzy proportion integration differentiation (PID) algorithm to precisely control the coil current is presented. Though the maglev haptic devices have advantages of none mechanical friction and low inertia, their performance is limited by the navigation approach. In the navigation study of visuo-haptic interaction, the visual-inertial navigation as a regression problem is reformulated, and deep learning to perform fusion navigatio n is adopted for maglev haptic interaction. Additionally, a maglev haptic platform as the system testbed is set up.
Keywords
Magnetic levitation haptic device, Tissue stiffness perception, Visual-inertial navigation, Maglev haptic interaction
