Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
권호 표지
DOI QR코드

DOI QR Code

Hyper-elastic Model Haptic Feedback Using Finite Element Analysis

유한요소 해석을 이용한 초탄성체 햅틱 피드백 연구

  • Park, Seunghyun (Mechanical Engineering, Seoul National University of Science and Technology) ;
  • Kim, Jinhyun (Mechanical Engineering, Seoul National University of Science and Technology)
  • 박승현 (서울과학기술대학교 기계공학과) ;
  • 김진현 (서울과학기술대학교 기계공학과)
  • Received : 2022.07.08
  • Accepted : 2022.07.25
  • Published : 2022.07.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this study, we establish hyper-elastic haptic feedback in a virtual environment using finite element analysis techniques and develop a Force Torque (FT) sensor utilization method for application in tele-operation environments. In general, regarding haptic feedback data, in a tele-operation environment, the user is provided with feedback according to the measured force data when the model is inserted through an FT sensor. Conversely, in a virtual environment, the press-fitting model can be expressed through the spring-damper system rather than an FT sensor to provide feedback. However, unlike rigid and the elastic bodies, the hyper-elastic body represented by a spring-damper system in a virtual environment is a simple impedance model using stiffness and damping coefficients; it is limited in terms of providing actual feedback. Thus, in this study, haptic feedback was implemented using the data obtained from POD-RBF analysis results during hyper-elastic press-fitting experiments. The haptic feedback mechanism developed in this study was verified by comparing the FT sensor feedback data measured and calculated through hyper-elastic press-fitting experiments with spring-damper feedback data. Subsequently, the POD-RBF analysis feedback was compared and evaluated against the feedback mechanism of each environment through the test subject, and the similarities between the POD-RBF analysis feedback and FT sensor data feedback were verified.

Keywords

Acknowledgement

본 연구는 '기초연구실지원사업'의 일환인 '실시간 유한요소 해석 기반 증강현실 시스템 개발 연구실' 과제(2019R1A4A102071513)로 수행됨

References

  1. G. Poconbono, J. Lombardo, H. Delingette, and N.Ayache, "Anisotropic elasticity and force extrapolation to improve realism of surgery simulation", Proc. ICRA Millenn. Conf. IEEE Int. Conf. Robot. Autom., Vol. 1, pp. 596-602, 2000.
  2. M. Aggravi, D. A. L. Estima, A. Krupa, S. Misra, and C. Pacchierotti, "Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback", Proc. of IEEE Robot. Autom. Lett., Vol. 6, No. 3, pp. 4859-4866, 2021. https://doi.org/10.1109/LRA.2021.3068635
  3. U. Seibold, B. Kubler, and G. Hirzinger, "Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability", Proc. 2005 IEEE Int. Conf. Robot. Autom., pp. 496-501, 2005.
  4. K. Naveen and O. Jyoti, "Design of Haptic Interface Controller under Noise Uncertainty and Delay Condition", Procedia Computer Science, Vol. 70, pp. 793-800, 2015. https://doi.org/10.1016/j.procs.2015.10.119
  5. S. Lee and H. Ahn, "Sensorless torque estimation using adaptive Kalman filter and disturbance estimator", Proc. of 2010 IEEE/ASME Int. Conf. Mechaton. Embed. Syst. Appi., pp. 87-92, 2010.
  6. D. Bai, B. Chen, F. Qi, F. Ju, and Y. Wang, "A sensor-less contact torque estimation and haptic feedback method in minimally invasive surgery", Proc. of Intell. Manuf. Robot., Vol. 16, No. 6, pp. 1729881419882201(1)-1729881419882201 (13), 2019.
  7. N. N. Minh and H. Kim, "A fast finite element simulation of non-linear static problems using POD-RBF interpolation method", KSME 2019, pp. 1032-1034, 2019.
  8. K. Kim, J. Park, D. Lee, and N. Choi, "A double cantilever sandwich beam method far evaluating frequency dependence of dynamic modulus and damping factor of rubber materials", Int. J. Ser. C. Mech. Syst. Machine. Elements. Manuf., Vol. 46, No. 2, pp. 666-674, 2003.
  9. A. Abdulali, I. R. Atadjanov, S. Lee, and S. Jeon, "Realistic haptic rendering of hyper-elastic material via measurement-based fem model identification and real-time simulation", Comput. Graph., Vol. 89, pp. 38-49, 2020. https://doi.org/10.1016/j.cag.2020.04.004