Leon J.-C.,French Institute for Research in Computer Science and Automation |
Dupeux T.,French Institute for Research in Computer Science and Automation |
Chardonnet J.-R.,Arts et Metiers ParisTech |
Journal of Computing and Information Science in Engineering | Year: 2016
The simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force feedback on the fingers can be provided by a hand exoskeleton, but such a device is very complex, invasive, and costly. In this paper, we present a new device, called HaptiHand, which provides position and force input as well as haptic output for four fingers in a noninvasive way, and is mounted on a standard force-feedback arm. The device incorporates four independent modules, one for each finger, inside an ergonomic shape, allowing the user to generate a wide range of virtual hand configurations to grasp naturally an object. It is also possible to reconfigure the virtual finger positions when holding an object. The paper explains how the device is used to control a virtual hand in order to perform dexterous grasping operations. The structure of the HaptiHand is described through the major technical solutions required and tests of key functions serve as validation process for some key requirements. Also, an effective grasping task illustrates some capabilities of the HaptiHand. Copyright © 2016 by ASME.
Tching L.,French Institute for Research in Computer Science and Automation |
Dumont G.,Ecole Normale Superieure de Cachan |
International Journal on Interactive Design and Manufacturing | Year: 2010
In the context of virtual reality (VR) and of computed aided design (CAD), haptic simulations are used to perform assembly tasks between 3D objects. To ensure the good assembly of those objects, we propose a new method of interactive assembly that uses both kinematic constraints and guiding virtual fixtures. Modelling a haptic assembly task as a combination of mechanical joints, we focus on the guidance of objects and on the activation cues of kinematic constraints in physical simulation. In this article, we first outline the difficulties related to the haptic-assembly of CAD objects in VR simulation. Introducing the virtual constraint guidance (VCG), we present a new method for haptic guidance that decomposes a task in two independent steps: a guiding step which use geometries as virtual fixtures to position objects, and a functional step which use kinematic constraints to perform the assembly task. We finally present a complete application of our method on a peg-in-hole insertion task. © 2010 Springer-Verlag.
Riwan A.,CEA Fontenay-aux-roses |
Giudicelli B.,Haption |
Taha F.,Service de Chirurgie Maxillofaciale |
Lazennec J.-Y.,Service de Chirurgie Orthopedique et Traumatologie |
And 9 more authors.
IRBM | Year: 2011
This paper presents the work done during the project Surgicobot involving both academic teams, clinical teams and two industrial companies. The aim of the project is to provide the future surgeons with a robotic assistant to make spinal release surgery quick and secure. The system comprises a "cobot" (collaborative robot) which holds the tool, together with the surgeon, in order to prevent unwanted motion or penetration in critical areas, a localisation device based on CCD camera and specific targets, and a graphical software, able to perform both geometric computations and the interactive supervision of the whole pre- and peroperative tasks. The global system was tested and validated by the surgeons on representative sawbones. © 2011 Elsevier Masson SAS. All rights reserved.