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Recent Advances in Cutaneous Haptic Interfaces:A Review 认领 引用
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作者 Xiaosa Li Yuan Guo +6 位作者 Caizi Li Yingkui Zhang Yilei Zheng Ronggang Wang Xinge Yu Wenbo Ding Qianqian Tong 《SmartSys》 2026年第1期10-21,共12页
Cutaneous haptic interfaces have demonstrated substantial potential in human-machine interaction,enabling applications such as immersive experiences,robotic teleoperation,and sensory transfer in prosthetics.By conveyi... Cutaneous haptic interfaces have demonstrated substantial potential in human-machine interaction,enabling applications such as immersive experiences,robotic teleoperation,and sensory transfer in prosthetics.By conveying rich haptic cues such as indentation,stretching,vibration,and temperature,cutaneous feedback improves presence,realism,task performance,and the stability of two-way interaction loops.This article introduces the fundamental concept of cutaneous haptic interfaces and reviews recent advances in cutaneous feedback modalities and device paradigms from skin-integrated patches to fingertips and whole-hand wearable devices.It highlights progress in spatiotemporal programmability for each feedback modality,as well as in combined multimodal feedback.Cutaneous adaptability designs for haptic feedback devices are also discussed,with an emphasis on maintaining natural interaction and achieving personalized haptic feedback.In addition,the integration of haptic feedback devices with sensing units has emerged as a popular trend,facilitating closed-loop control for more accurate and stable haptic interaction.Finally,the article concludes by underscoring a complete workflow spanning coordinated visual-haptic sensing,encoding,rendering,and feedback to support dexterous haptic interaction and enable more lifelike,responsive,and dependable performance in virtual or teleoperation scenarios. 展开更多
关键词 cutaneous feedback flexible electronics haptic glove skin-integrated haptic interface
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Haptic-Aided Navigation Vehicle:Enhancing Obstacle Detection in Blind Spots and Transparent Object Scenarios 认领 引用
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作者 LI Mingwang LI Xinde +2 位作者 ZHANG Zhentong ZHANG Zeyu ZHAO Haoming 《Journal of Shanghai Jiaotong university(Science)》 EI 2026年第1期167-175,共9页
As autonomous mobile robots are increasingly deployed in complex environments,traditional vision sensors and LiDAR encounter considerable limitations,particularly in detecting obstacles in blind spots or transparent o... As autonomous mobile robots are increasingly deployed in complex environments,traditional vision sensors and LiDAR encounter considerable limitations,particularly in detecting obstacles in blind spots or transparent objects.To address the issue of blind spots,we design a specialized haptic sensing structure and develop the haptic-aided navigation vehicle(HANV).This system integrates haptic sensors and LiDAR to deliver comprehensive perception,significantly enhancing close-range obstacle detection in areas that are typically beyond the range of conventional sensors.To tackle the challenge of transparent obstacles,which are often undetected by both vision and LiDAR sensors,we employ a fusion of haptic sensors and LiDAR.The haptic system provides physical contact feedback,ensuring reliable detection of transparent obstacles such as glass,while LiDAR offers long-range sensing capabilities.This combination enables HANV to navigate effectively in environments with transparent obstacles,overcoming the limitations of traditional sensing systems.Experiment results indicate that the proposed haptic and LiDAR integration substantially improves obstacle detection in both blind spots and environments with transparent obstacles.HANV achieves high success rates,minimal collisions,and efficient obstacle avoidance,particularly excelling in complex,confined spaces where conventional systems prove inadequate.These findings emphasize the efficacy of our approach in enhancing navigation performance in dynamic and challenging environments. 展开更多
关键词 haptic sensor LiDAR autonomous obstacle avoidance deep reinforcement learning multimodal sensor fusion mobile robot navigation
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Haptic display for virtual reality: progress and challenges 认领 引用 被引量：12
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作者 Dangxiao WANG Yuan GUO +3 位作者 Shiyi LIU Yuru ZHANG Weiliang XU Jing XIAO 《虚拟现实与智能硬件（中英文）》 EI 2019年第2期136-162,共27页
Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of w... Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral signal communications between human and computer, and thus to greatly enhance the immersion and interaction of VR systems. This paper surveys the paradigm shift of haptic display occurred in the past 30 years, which is classified into three stages, including desktop haptics, surface haptics, and wearable haptics. The driving forces, key technologies and typical applications in each stage are critically reviewed. Toward the future high-fidelity VR interaction, research challenges are highlighted concerning handheld haptic device, multimodal haptic device, and high fidelity haptic rendering. In the end, the importance of understanding human haptic perception for designing effective haptic devices is addressed. 展开更多
关键词 Haptic display Virtual reality Desktop haptics Surface haptics Wearable haptics Multimodal haptics
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Novel Haptic Device and Control Strategy for Manipulator Teleoperation in Nuclear and Aerospace Tasks 认领 引用 被引量：1
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作者 Yuanzhen Niu Ge Huang +2 位作者 Jintao An Yi Wang Guanyang Liu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2025年第4期466-482,共17页
Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace,high payload demands,and the need for both coarse positioning and fine manipulation.Existing commercial systems o... Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace,high payload demands,and the need for both coarse positioning and fine manipulation.Existing commercial systems often lack structural consistency between master and slave devices,which leads to complex motion mapping and limited adaptability.This paper presents a modular isomorphic haptic master device and dual-mode control strategy tailored for these environments.Two reconfigurable versions(5-DOF and 6-DOF)were developed to match the task-specific slave arms.The system supports autonomous-to-manual switching,joint and end-effector mapping,and real-time haptic rendering.Simulations and experiments verified their performance in representative scenarios.The proposed solution addresses structural mismatches and control inflexibility through a scalable task-driven design for high-risk remote operations. 展开更多
关键词 Haptic device Teleoperation Virtual reality Haptic rendering
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Thin and Flexible Breeze-Sense Generators for Non-Contact Haptic Feedback in Virtual Reality 认领 引用
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作者 Kaijun Zhang Zhe Liu +7 位作者 Yexi Zhou Zhaoyang Li Dazhe Zhao Xiao Guan Tianjun Lan Yanting Gong Bingpu Zhou Junwen Zhong 《Nano-Micro Letters》 SCIE EI CAS CSCD 2025年第6期397-410,共14页
In the realm of virtual reality(VR),haptic feedback is integral to enhance the immersive experience;yet,existing wearable devices predominantly rely on skin contact feedback,lacking options for compact and non-contact... In the realm of virtual reality(VR),haptic feedback is integral to enhance the immersive experience;yet,existing wearable devices predominantly rely on skin contact feedback,lacking options for compact and non-contact breeze-sense feedback.Herein,we propose a compact and non-contact working model piezoelectret actuator for providing a gentle and safe breeze sensation.This easy-fabricated and flexible breeze-sense generator with thickness around 1 mm generates air flow pressure up to~163 Pa,which is significantly sensed by human skin.In a typical demonstration,the breeze-sense generators array showcases its versatility by employing multiple coded modes for non-contact information transmitting.The thin thinness and good flexibility facilitate seamless integration with wearable VR setups,and the wearable arrays empower volunteers to precisely perceive the continuous and sudden breeze senses in the virtual environments.This work is expected to inspire developing new haptic feedback devices that play pivotal roles in human-machine interfaces for VR applications. 展开更多
关键词 Virtual reality Wearable electronics Non-contact haptic feedback Breeze-sense Piezoelectret actuator
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Design and optimization of a haptic-feedback laparoscopic surgery simulator using particle swarm algorithm 认领 引用
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作者 Jingrong LI Jianlong NI +2 位作者 Dingqun HU Jiaxing LI Qinghui WANG 《虚拟现实与智能硬件（中英文）》 EI CSCD 2025年第6期639-656,共18页
Compared with traditional open surgery,laparoscopic surgery significantly reduces bodily trauma,postoperative pain,and hospitalization duration.However,owing to the small size of incisions and the counterintuitive mot... Compared with traditional open surgery,laparoscopic surgery significantly reduces bodily trauma,postoperative pain,and hospitalization duration.However,owing to the small size of incisions and the counterintuitive motion of surgical tools,longer training cycles are required for surgeons to achieve fine operational skills.This paper presents a laparoscopic surgery simulator with haptic-feedback control(LSHC-6)that provides a reliable and cost-effective training alternative for surgeons.In addition to the structural diagram,kinematic analysis,and gravity compensation algorithm,a particle swarm optimization algorithm(PSO)is applied to optimize the structural parameters of the simulator by evaluating its workspace,global dexterity,and gravity compensation ability.A prototype system was developed and evaluated using two training experiments.The results demonstrate that the simulator exhibits good operational fluidity,workspace,and stable force output,effectively meeting the needs of laparoscopic surgical training. 展开更多
关键词 Laparoscopic surgery Simulator Haptic model Structural optimization
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Real-time teleoperation of magnetic force-driven microrobots with a motion model and stable haptic force feedback for micromanipulation 认领 引用
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作者 Yasin Cagatay Duygu Baijun Xie +2 位作者 Xiao Zhang Min Jun Kim Chung Hyuk Park 《Nanotechnology and Precision Engineering》 EI CAS CSCD 2025年第2期63-76,共14页
Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment,micromanipulation,and noninvasive surgery inside the body.Untethered microrobot application... Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment,micromanipulation,and noninvasive surgery inside the body.Untethered microrobot applications can benefit from haptic technology and telecommunication,enabling telemedical micro-manipulation.Users can manipulate the microrobots with haptic feedback by interacting with the robot operating system remotely in such applications.Artificially created haptic forces based on wirelessly transmitted data and model-based guidance can aid human operators with haptic sensations while manipulating microrobots.The system presented here includes a haptic device and a magnetic tweezer system linked together using a network-based teleoperation method with motion models in fluids.The magnetic microrobots can be controlled remotely,and the haptic interactions with the remote environment can be felt in real time.A time-domain passivity controller is applied to overcome network delay and ensure stability of communication.This study develops and tests a motion model for microrobots and evaluates two image-based 3D tracking algorithms to improve tracking accuracy in various Newtonian fluids.Additionally,it demonstrates that microrobots can group together to transport multiple larger objects,move through microfluidic channels for detailed tasks,and use a novel method for disassembly,greatly expanding their range of use in microscale operations.Remote medical treatment in multiple locations,remote delivery of medication without the need for physical penetration of the skin,and remotely controlled cell manipulations are some of the possible uses of the proposed technology. 展开更多
关键词 Microrobot Magnetic control Haptic force-feedback Microrobot motion model Telemanipulation
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A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications 认领 引用
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作者 Debadrata Sarkar Amit Kumar Aman Arora 《Journal of Bionic Engineering》 SCIE EI CSCD 2025年第2期684-702,共19页
This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinae... This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields. 展开更多
关键词 Virtual reality and interfaces Tactile feedback Haptics and haptic interfaces Soft sensors and actuators
A haptic feedback glove for virtual piano interaction 认领 引用
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作者 Yifan FU Jialin LIU +1 位作者 Xu LI Xiaoying SUN 《虚拟现实与智能硬件（中英文）》 EI CSCD 2025年第1期95-110,共16页
Background Haptic feedback plays a crucial role in virtual reality(VR)interaction,helping to improve the precision of user operation and enhancing the immersion of the user experience.Instrumental haptic feedback in v... Background Haptic feedback plays a crucial role in virtual reality(VR)interaction,helping to improve the precision of user operation and enhancing the immersion of the user experience.Instrumental haptic feedback in virtual environments is primarily realized using grounded force or vibration feedback devices.However,improvements are required in terms of the active space and feedback realism.Methods We propose a lightweight and flexible haptic feedback glove that can haptically render objects in VR environments via kinesthetic and vibration feedback,thereby enabling users to enjoy a rich virtual piano-playing experience.The kinesthetic feedback of the glove relies on a cable-pulling mechanism that rotates the mechanism and pulls the two cables connected to it,thereby changing the amount of force generated to simulate the hardness or softness of the object.Vibration feedback is provided by small vibration motors embedded in the bottom of the fingertips of the glove.We designed a piano-playing scenario in the virtual environment and conducted user tests.The evaluation metrics were clarity,realism,enjoyment,and satisfaction.Results A total of 14 subjects participated in the test,and the results showed that our proposed glove scored significantly higher on the four evaluation metrics than the nofeedback and vibration feedback methods.Conclusions Our proposed glove significantly enhances the user experience when interacting with virtual objects. 展开更多
关键词 Wearable device Human-computer interaction Virtual reality Haptic feedback
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Emotional and Directional Enabled Programmable Flexible Haptic Interface for Enhanced Cognition in Disabled Community 认领 引用
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作者 Yuhan Liu Liuyang Han +12 位作者 Siqi Lv Tao Jiang Mingkai Duan Hanyu Guo Yuzhen Li Qisen Xie Yanru Chen Dongkai Wang Ziheng Liu Wenjie Zhang Yanting Gong Junwen Zhong Xiang Qian 《Research》 SCIE EI CSCD 2026年第2期195-206,共12页
Advanced haptic feedback interfaces are essential for human-machine interaction,particularly in assistive technologies that offer versatile commands,simplify navigation,and enhance emotional interactions for individua... Advanced haptic feedback interfaces are essential for human-machine interaction,particularly in assistive technologies that offer versatile commands,simplify navigation,and enhance emotional interactions for individuals with visual and hearing impairments.Current systems,primarily reliant on Braille and mechanical announcements,fall short of addressing these needs.Existing haptic interfaces,while providing various haptic feedback modes,still face challenges including rigid,strong current,or high-voltage stimulation,limiting their applicability and long-term safety for widespread use.Here,the work demonstrates a flexible,integrable,and programmable haptic interface based on elastomer actuators that utilize a unique forming process to create customized local stiffness in a multilayer elastomer by varying the cross-linking density of elastomers.Complemented by tailored software,the system delivers a 4-dimensional haptic experience within a safe voltage of less than 50 V and a frequency range of 50 to 450 Hz,enabling high-fidelity emotional and navigational feedback.Demonstrations of this system achieve an average accuracy rate of 64.6%in emotional interactions without prior training,improving to 95.8%with learning mode,along with an average accuracy rate of 94.2%for 9 directional commands in navigation interactions. 展开更多
关键词 assistive technologies programmable haptic interface advanced haptic feedback interfaces haptic feedback modesstill enhance emotional interactions haptic interfaceswhile directional feedback mechanical announcementsfall
Virtual brain surgery simulation system based on haptic interaction 认领 引用 被引量：3
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作者 张小瑞 Zhu Jiandong +4 位作者 Sun Wei Norman I.Badler Song Aiguo Niu Jianwei Liu Jia 《High Technology Letters》 EI CAS 2015年第2期185-191,共7页
To improve the accuracy and interactivity of soft tissue delormatlon simulation, a new plate spring model based on physics is proposed. The model is parameterized and thus can be adapted to simulate different organs. ... To improve the accuracy and interactivity of soft tissue delormatlon simulation, a new plate spring model based on physics is proposed. The model is parameterized and thus can be adapted to simulate different organs. Different soft tissues are modeled by changing the width, number of pieces, thickness, and length of a single plate spring. In this paper, the structural design, calcula- tion of soft tissue deformation and real-time feedback operations of our system are also introduced. To evaluate the feasibility of the system and validate the model, an experimental system of haptic in- teraction, in which users can use virtual hands to pull virtual brain tissues, is built using PHANTOM OMNI devices. Experimental results show that the proposed system is stable, accurate and promising for modeling instantaneous soft tissue deformation. 展开更多
关键词 haptic feedback human-computer interaction surgery simulation soft tissue deformation
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Development and Evaluation of a 7-DOF Haptic Interface 认领 引用 被引量：2
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作者 Jian-Long Hao Xiao-Liang Xie +2 位作者 Gui-Bin Bian Zeng-Guang Hou Xiao-Hu Zhou 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第1期261-269,共9页
With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual as... With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a7-DOF(degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments: gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface. 展开更多
关键词 Dynamic modeling evaluation haptic interface impedance control
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Efficacy of scleral-fixated 3-looped haptics intraocular lens implantation for surgical management of microspherophakia 认领 引用 被引量：2
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作者 Xue-Wen Yu Xian Ge +5 位作者 Wei-Jie Chen Shuang Ni Xue-Qi Lin Si-Ting Sheng Dan Chen Wen Xu 《International Journal of Ophthalmology(English edition)》 SCIE CAS 2022年第12期1944-1950,共7页
AIM:To evaluate the safety and efficacy of scleral-fixated 3-looped haptics intraocular lens(IOL)implantation for surgical management of microspherophakia.METHODS:A retrospective case series include 10 microspherophak... AIM:To evaluate the safety and efficacy of scleral-fixated 3-looped haptics intraocular lens(IOL)implantation for surgical management of microspherophakia.METHODS:A retrospective case series include 10 microspherophakic patients(15 eyes)who underwent lens removal plus a modified surgical treatment of scleral-fixated 3-looped haptics IOL implantation.The primary outcomes involved visual acuity,intraocular pressure(IOP).Secondary outcomes were spherical equivalent(SE),anterior chamber depth(ACD),corneal endothelial cell density and postoperative complications.RESULTS:After a postoperative follow-up of 17.60±15.44mo,improved visual outcomes can be observed.The uncorrected distance visual acuity(UCVA)log MAR improved from 1.54±0.59 preoperatively to 0.51±0.35 postoperatively(P=0.001),and best corrected visual acuity(BCVA)log MAR improved from 0.97±0.91 preoperatively to 0.24±0.23 postoperatively(P=0.003).Moreover,the SE decreased from-9.58±7.47D preoperatively to-0.65±2.21 D postoperatively(P<0.001).In terms of safety profile,the average IOP decreased from 21.10±12.94 mm Hg preoperatively to 14.03±3.57 mm Hg postoperatively(P=0.044),and the previously elevated IOP of three eyes decreased to the normal range.The ACD increased from 2.25±1.45 mm preoperatively to 3.35±0.39 mm postoperatively(P=0.017).The density of corneal endothelial cells did not change significantly after surgery(P=0.140).The posterior chamber IOLs were well centered and no severe complications were found.CONCLUSION:Lens removal plus the modified surgical treatment of scleral-fixated 3-looped haptics IOL implantation can help in improvement of visual acuity,which can be regarded as a relative safe method for the surgical management of microspherophakia. 展开更多
关键词 microspherophakia transscleral suture fixation 3-looped haptics intraocular lens
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Multi-dimensional force sensor for haptic interaction:a review 认领 引用 被引量：7
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作者 Aiguo SONG Liyue FU 《虚拟现实与智能硬件（中英文）》 EI 2019年第2期121-135,共15页
Haptic interaction plays an important role in the virtual reality technology,which let a person not only view the 3D virtual environment but also realistically touch the virtual environment.As a key part of haptic int... Haptic interaction plays an important role in the virtual reality technology,which let a person not only view the 3D virtual environment but also realistically touch the virtual environment.As a key part of haptic interaction,force feedback has become an essential function for the haptic interaction.Therefore,multi-dimensional force sensors are widely used in the fields of virtual reality and augmented reality.In this paper,some conventional multi-dimensional force sensors based on different measurement principles,such as resistive,capacitive,piezoelectric,are briefly introduced.Then the mechanical structures of the elastic body of multi-dimensional force sensors are reviewed.It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body.Furthermore,the calibration process of the force sensor is analyzed,and problems in calibration are discussed.Interdimensional coupling error is one of the main factors affecting the measurement precision of the multi-dimensional force sensors.Therefore,reducing or even eliminating dimensional coupling error becomes a fundamental requirement in the design of multi-dimensional force sensors,and the decoupling state-of-art of the multi-dimensional force sensors are introduced in this paper.At last,the trends and current challenges of multi-dimensional force sensing technology are proposed. 展开更多
关键词 Haptic interaction Virtual reality Multi-dimensional force sensor Elastic body Decoupling Force sensor calibration
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Efficacy of haptic sutured in-the-bag intraocular lens for intraocular lens-capsule complex stability:a comparison of three insertion methods 认领 引用 被引量：2
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作者 Yang Kyung Cho Andrew Thomson Balamurali K Ambati 《International Journal of Ophthalmology(English edition)》 SCIE CAS 2022年第9期1468-1475,共8页
·AIM:To evaluate the efficacy and stability of haptic sutured in-the-bag intraocular lens(IOL)in eyes with zonular instability.·METHODS:A total 60 eyes of 60 patients were included in this retrospective coho... ·AIM:To evaluate the efficacy and stability of haptic sutured in-the-bag intraocular lens(IOL)in eyes with zonular instability.·METHODS:A total 60 eyes of 60 patients were included in this retrospective cohort study.Postoperative stability in three groups[haptic sutured IOL in the bag,IOL in the bag insertion with haptics oriented toward areas of zonulysis,IOL with capsular tension ring(CTR)in the bag insertion]were compared according to the IOL insertion methods.To evaluate the IOL stability,the changes of anterior chamber depth(ACD),refraction,contraction of anterior continuous curvilinear capsulotomy(CCC)area,and tilt of IOL were compared.·RESULTS:There was no significant difference in change of ACD(-0.04±0.01 mm in group of haptic sutured IOL,-0.07±0.01 mm in group of CTR insertion)and refraction(0.05±0.05 D in group of haptic sutured IOL,0.37±015 D in group of CTR insertion)between the group of haptic sutured IOL in the bag and CTR insertion group.But in comparison of CCC contraction and IOL tilt,CTR insertion group showed less contraction(1.00%±0.52%)and less IOL tilt(2.66°±0.11°)than the group of haptic sutured IOL in the bag(6.32%±1.36%,3.47°±0.11°,respectively).The CTR insertion group showed the least CCC contraction and the least tilt.·CONCLUSION:In eyes with zonular instability,the method of haptic sutured IOL in-the-bag shows comparable stability in ACD and refraction in comparison with IOL with CTR in the bag insertion.The method of IOL only in-thebag insertion shows the largest contraction of CCC and the largest tilt of IOL. 展开更多
关键词 zonular instability capsular tension ring haptic sutured in the bag
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Real-time haptic model for soft tissue deformation in surgery simulation 认领 引用 被引量：1
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作者 孙伟 Zhu Jiandong +3 位作者 Zhang Xiaorui Zhao Xinping Niu Jianwei Song Aiguo 《High Technology Letters》 EI CAS 2013年第3期233-239,共7页
The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected hapt... The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected haptic deformation model based on physics is proposed for an excellent haptic rendering.During the modelling,the accumulation of relative displacements in every chain structure unit in each layer is equal to the deformation on the virtual object surface,and the resultant force of corresponding springs is equivalent to the external force.The layered rhombus-chain-connected model is convenient and fast to calculate,and can satisfy real-time requirement due to its simple nature.Simulation experiments in virtual human liver based on the proposed model are conducted,and the results demonstrate that our model provides stable and realistic haptic feeling in real time.Meanwhile,the display result is vivid. 展开更多
关键词 human-computer interaction deformable objects haptic rendering feedbackforce virtual reality
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Exploring the effect of fingertip aero-haptic feedforward cues in directing eyes-free target acquisition in VR 认领 引用
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作者 Xiaofei REN Jian HE +3 位作者 Teng HAN Songxian LIU Mengfei LV Rui ZHOU 《虚拟现实与智能硬件（中英文）》 EI 2024年第2期113-131,共19页
Background The sense of touch plays a crucial role in interactive behavior within virtual spaces,particularly when visual attention is absent.Although haptic feedback has been widely used to compensate for the lack of... Background The sense of touch plays a crucial role in interactive behavior within virtual spaces,particularly when visual attention is absent.Although haptic feedback has been widely used to compensate for the lack of visual cues,the use of tactile information as a predictive feedforward cue to guide hand movements remains unexplored and lacks theoretical understanding.Methods This study introduces a fingertip aero-haptic rendering method to investigate its effectiveness in directing hand movements during eyes-free spatial interactions.The wearable device incorporates a multichannel micro-airflow chamber to deliver adjustable tactile effects on the fingertips.Results The first study verified that tactile directional feedforward cues significantly improve user capabilities in eyes-free target acquisition and that users rely heavily on haptic indications rather than spatial memory to control their hands.A subsequent study examined the impact of enriched tactile feedforward cues on assisting users in determining precise target positions during eyes-free interactions,and assessed the required learning efforts.Conclusions The haptic feedforward effect holds great practical promise in eyeless design for virtual reality.We aim to integrate cognitive models and tactile feedforward cues in the future,and apply richer tactile feedforward information to alleviate users'perceptual deficiencies. 展开更多
关键词 Haptic Feedforward Virtual reality Aero-haptic
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Real Objects Understanding Using 3D Haptic Virtual Reality for E-Learning Education 认领 引用
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作者 Samia Allaoua Chelloug Hamid Ashfaq +4 位作者 Suliman A.Alsuhibany Mohammad Shorfuzzaman Abdulmajeed Alsufyani Ahmad Jalal Jeongmin Park 《Computers, Materials & Continua》 SCIE EI 2023年第1期1607-1624,共18页
In the past two decades,there has been a lot of work on computer vision technology that incorporates many tasks which implement basic filtering to image classification.Themajor research areas of this field include obj... In the past two decades,there has been a lot of work on computer vision technology that incorporates many tasks which implement basic filtering to image classification.Themajor research areas of this field include object detection and object recognition.Moreover,wireless communication technologies are presently adopted and they have impacted the way of education that has been changed.There are different phases of changes in the traditional system.Perception of three-dimensional(3D)from two-dimensional(2D)image is one of the demanding tasks.Because human can easily perceive but making 3D using software will take time manually.Firstly,the blackboard has been replaced by projectors and other digital screens so such that people can understand the concept better through visualization.Secondly,the computer labs in schools are now more common than ever.Thirdly,online classes have become a reality.However,transferring to online education or e-learning is not without challenges.Therefore,we propose a method for improving the efficiency of e-learning.Our proposed system consists of twoand-a-half dimensional(2.5D)features extraction using machine learning and image processing.Then,these features are utilized to generate 3D mesh using ellipsoidal deformation method.After that,3D bounding box estimation is applied.Our results show that there is a need to move to 3D virtual reality(VR)with haptic sensors in the field of e-learning for a better understanding of real-world objects.Thus,people will have more information as compared to the traditional or simple online education tools.We compare our result with the ShapeNet dataset to check the accuracy of our proposed method.Our proposed system achieved an accuracy of 90.77%on plane class,85.72%on chair class,and car class have 72.14%.Mean accuracy of our method is 70.89%. 展开更多
关键词 Artificial intelligence e-learning online education system computer vision virtual reality 3D haptic
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Eye-around vibration haptics on VR immersion improvement 认领 引用
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作者 Tao ZENG Keyu WEI +1 位作者 Yanlin YU Yi ZHAO 《虚拟现实与智能硬件（中英文）》 EI 2019年第2期176-184,共9页
Due to the inherent shortcomings of the hardware,the immersion of visual interaction between the user and the virtual reality(VR)equipment is greatly reduced.In this paper,effects of eye-around vibration haptics on im... Due to the inherent shortcomings of the hardware,the immersion of visual interaction between the user and the virtual reality(VR)equipment is greatly reduced.In this paper,effects of eye-around vibration haptics on improving the VR immersion were studied.The vibration was generated by flexible vibrators whose performance was evaluated by a laser vibrometer.Fitting the vibrators on the human eye area at different positions and derived by different waveforms and frequencies of the input signal,the effects of vibration on the human vision and comfort of the users were verified.Then,with the selected input signals and fitting locations,different kinds of vibration were applied on the eye area cooperating with virtual reality images or videos to evaluate the changes of immersion.Research results provide references to the modeling of eye tactile feedback and the design of relevant tactile device in improving the VR immersion. 展开更多
关键词 VR immersion Haptics Eye tactile feedback Vibration actuator
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Controller Design for a 3 D.O.F Haptic Interface Device 认领 引用
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作者 崔泽 Zhao +2 位作者 Jie Cai Hegao 《High Technology Letters》 EI CAS 2002年第4期69-73,共5页
This paper presents a 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into considerati... This paper presents a 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cable as transmission component and mass balance to eliminate the gravity effect. The dynamics of haptic interface including actuating device is studied. In order to provide operator with fidelity kinesthetic information, a force controller using self-learning fuzzy logic control is designed. The simulation results verify the effectiveness of the control method. 展开更多
关键词 haptic interface device dynamics self-learning fuzzy control
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