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Virtual Reality Interface in MATLAB/Simulink for mechatronic interface. D. Todorovi ć , M. Božić , V. Zerbe , and G. S. Đorđević. Overview. Introduction Telepresence 2 d.o.f. joystick design Force feedback and tactile sensation Virtual reality toolbox Forces and information flow - PowerPoint PPT Presentation
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Virtual Reality Interface in MATLAB/Simulink for mechatronic interface
D. Todorović, M. Božić, V. Zerbe, and G. S. Đorđević
OverviewOverviewIntroductionTelepresence2 d.o.f. joystick designForce feedback and tactile
sensationVirtual reality toolboxForces and information flowConclusion
MotivationMotivationModern video and audio
processing is rapidly developing.Unable to understand meaning of
interactionTelepresence is necessary to use
maximum from present technology
TelepresenceTelepresenceTeleconferencingThe most important use in robotic
telemedicineOn the same site (few meters
away)On remote siteTwo way information flow (position,
speed, force, image, voice…)To improve robotic surgery haptic
enabled interface is necessary.
2 d.o.f. joystick 2 d.o.f. joystick Paralelogram mechanism2 perpendicular axis
◦Humusoft MF624 interface PC card◦2 DC motor drivers
2 axis force sensorsLow cost developmentModeling and integration in
Matlab/Simulink◦Virtual reality toolbox◦Testing and iterative design
Mechanical designMechanical design
Force feedback and tactile Force feedback and tactile sensationsensationCrucial for improvements in robotic
surgeryTwo main components of such system
◦Sensorized surgical instrument (endoscope with force sensors on its tip)
◦Force-reflective human machine interface that mediates between surgeon and the robot.
Problems in communication, mechanical design and control algorithms◦Can be solved in simulated environment,
and then implemented and tested.
Virtual reality world in VR Virtual reality world in VR toolboxtoolboxPhysical models of objects being
controlled.Virtual world simulation (gravity,
friction, viscosity…)Simulink 3D animation product
◦Virtual worlds ◦Virtual worlds ◦Animation◦Manipulation◦Interaction
Forces and information Forces and information flowflow
Taxonomy of VR interfaceTaxonomy of VR interfaceRobotized application require
trainingEvaluation against taxonomy of
tasks◦Moving an object in VR with only
visual feedback◦Moving an object in VR with haptics
turned on◦Examination of trial-by-trial
performance.
ConclusionConclusionVirtual reality enabled
mechatronic system for haptic research.
Future research includes:◦Evaluation of different haptics (force
reflection) algorithms◦Does the haptics algorithm improve
the process of motor learning?◦Can this help during the training
period?
Thank you.Thank you.Any questions?