Stiffness rendering on soft tangible devices controlled through inverse FEM simulation

Largillière, Frédérick; Coevoet, Eulalie; Sanz Lopez, Mario; Grisoni, Laurent; Duriez, Christian

Document type :

Communication dans un congrès avec actes

Title :

Stiffness rendering on soft tangible devices controlled through inverse FEM simulation

Author(s) :

Largillière, Frédérick [Auteur]
Méthodes et outils pour l'Interaction à gestes [MINT2]
Deformable Robots Simulation Team [DEFROST ]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Coevoet, Eulalie [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Sanz Lopez, Mario [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Grisoni, Laurent [Auteur]

Méthodes et outils pour l'Interaction à gestes [MINT2]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Duriez, Christian [Auteur]

Deformable Robots Simulation Team [DEFROST ]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]

Conference title :

International Conference on Intelligent Robots and Systems - IROS 2016

City :

Daejeon

Country :

Corée du Sud

Start date of the conference :

2016-10-09

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]

English abstract : [en]

Haptic rendering of soft bodies is essential in medical simulations of procedures such as surgery or palpation. The most commonly used approach is to recreate the sense of touch using a specific design and control of a ...
Show more >Haptic rendering of soft bodies is essential in medical simulations of procedures such as surgery or palpation. The most commonly used approach is to recreate the sense of touch using a specific design and control of a robotic arm. In this paper, we propose a new approach, based on soft-robotics technology. We create a tangible deformable device that allows users to " touch " soft tissues and perceive mechanical material properties, in a realistic manner. The device is able to dynamically provide user touch with different stiffness perceptions, thanks to actuators placed at the boundaries. We introduce a control algorithm, based on inverse Finite Element Analysis, which controls the actuators in order to recreate a desired stiffness that corresponds to the contact with soft tissues in the virtual environment. The approach uses antagonistic actuation principle to create a wide range of stiffness. We validate our algorithm and demonstrate the method using prototypes based on simple mechanisms.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL

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IROS_stiffness_interface.pdf
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