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Stiffness rendering on soft tangible devices controlled through inverse FEM simulation

Frederick Largilliere, Eulalie Coevoet, Mario Sanz-Lopez, Laurent Grisoni, Christian Duriez
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
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  ...  Haptic rendering of soft bodies is essential in medical simulations of procedures such as surgery or palpation.  ...  ACKNOWLEDGMENT The authors would like to thank Alexandre Kruszewski, Bruno Carrez and Thor Morales Bieze for their advices on the technical aspects of this project.  ... 
doi:10.1109/iros.2016.7759768 dblp:conf/iros/LargilliereCSGD16 fatcat:bslt4aqq6fg25iowcufssgxxfi

Design of a Wearable Haptic Device for Hand Palm Cutaneous Feedback

Mihai Dragusanu, Alberto Villani, Domenico Prattichizzo, Monica Malvezzi
2021 Frontiers in Robotics and AI  
The proposed device has a parallel tendon-based mechanical structure and is actuated by three motors positioned on the hand's back.  ...  The device is able to apply both normal and tangential forces and to render the contact with surfaces with different slopes.  ...  (FEM) analysis, hardware, and control description; and 4) presents a working prototype of the device with some preliminary applications.  ... 
doi:10.3389/frobt.2021.706627 pmid:34557524 pmcid:PMC8454543 fatcat:37vggo574ractluwetayvlge6i

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
., +, LRA Oct. 2021 8181-8188 FEM-Based Gain-Scheduling Control of a Soft Trunk Robot.  ...  Guo, Y., +, LRA Oct. 2021 6450-6457 FEM-Based Gain-Scheduling Control of a Soft Trunk Robot.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

Micro-mechanical modelling of heterogeneous materials containing microcracks with Discrete Element Method (DEM)

Farid ASADI
2021 Zenodo  
This research project is supported by the European Commission through the funding scheme of Horizon 2020 Marie Skłodowska-Curie Actions under grant No. 764987.  ...  Compared to FEM, this advantage is even more tangible due to the high calculation cost of DEM simulations.  ...  By running cycles of simulations, Young's modulus and fracture parameters of the material were inversely fitted to the experimental results through an adaptive non-linear least-squares algorithm.  ... 
doi:10.5281/zenodo.6560648 fatcat:pfzgdeyl3zetnnmqun5a4actwq

Haptic Assembly and Prototyping: An Expository Review [article]

Morad Behandish, Horea T. Ilies
2017 arXiv   pre-print
The main focus is on revisiting definitions and classifications of different methods used to handle the constrained multibody simulation in real-time, ranging from physics-based and geometry-based to hybrid  ...  and unified approaches using a variety of auxiliary computational devices to specify, impose, and solve assembly constraints.  ...  the maximum stiffness in a closed-loop system is inversely proportional to the square of the regulation period [284] .  ... 
arXiv:1712.00750v1 fatcat:gwkmw5qbqbgb5feiwzzp2qbkli

Accelerated Streak Line Computation Using Adaptive Refinement

Alexander Wiebel, Qin Wang, Dominic Schneider, Gerik Scheuermann
2010 Journal of WSCG  
EPS-0701491 (CyberTools), NSF MRI-0521559 (Viz Tangibles) and IGERT (NSF Grant DGE-0504507).  ...  In this API, when interaction control messages are sent (trig-Figure 6 : User physically manipulating VISH application through "viz tangibles" interaction devices gered by physical events, such as RFID  ...  Core tangibles focus on tangible interfaces for visualization, simulation, presentation, and education, often toward collaborative use by scientist end-users [21] .  ... 
dblp:journals/jwscg/WiebelWSS10 fatcat:7oansbyi4zcfli6shsmt5blcvi

The neural bases of normalising for accented speech: A repetition suppression functional magnetic resonance imaging study

Patti Adank, Peter Hagoort
2008 Journal of the Acoustical Society of America  
Where the flap allophone of "t" and "d" is expected in American English, one frequently sees an approximant-like or even vocalic pattern, rather than a clear flap.  ...  The inversion is modeled as an optimal control problem, and the solution is based on the adjoint method.  ...  The ultimate goal is to make the acoustics of the instrument programmable by way of a digital feedback controller, while the instrument retains its tangible form.  ... 
doi:10.1121/1.2934685 fatcat:qqmjcl5gjzcj7kssv2pi6efwti

Byte your tongue : a computational model of human mandibular-lingual biomechanics for biomedical applications

Ian Kent Stavness
2010
Additional target parameters, such as dynamic constraint forces and stiffness, are included in the inverse formulation to control muscle activation predictions in redundant models.  ...  soft-tissue models.  ...  A generalized formulation of stiffness control through muscle co-activation is described in Section 4.1.  ... 
doi:10.14288/1.0071518 fatcat:nos7ihpa35euxohouu5brtlplm

Speaker comfort and increase of voice level in lecture rooms

Jonas Brunskog, Anders C. Gade, Gaspar Payà Bellester, Lilian Reig Calbo
2008 Journal of the Acoustical Society of America  
Where the flap allophone of "t" and "d" is expected in American English, one frequently sees an approximant-like or even vocalic pattern, rather than a clear flap.  ...  the soft tissues.  ...  The ultimate goal is to make the acoustics of the instrument programmable by way of a digital feedback controller, while the instrument retains its tangible form.  ... 
doi:10.1121/1.2934367 fatcat:xr6gp4ldo5bylnxytx2iumrdmi

Fine‐structure processing, frequency selectivity and speech perception in hearing‐impaired listeners

Olaf Strelcyk, Torsten Dau
2008 Journal of the Acoustical Society of America  
Where the flap allophone of "t" and "d" is expected in American English, one frequently sees an approximant-like or even vocalic pattern, rather than a clear flap.  ...  the soft tissues.  ...  The ultimate goal is to make the acoustics of the instrument programmable by way of a digital feedback controller, while the instrument retains its tangible form.  ... 
doi:10.1121/1.2935148 fatcat:nqyyia5pubamnhqgonegghrudm

Performance of optimized sound field control techniques in simulated and real acoustic environments

Philip Coleman, Martin Møller, Martin Olsen, Marek Olik, Philip Jackson, Jan Abildgaard Pedersen
2012 Journal of the Acoustical Society of America  
Their sleep was registered with polysomnography during four nights, one adaptation night, one control night and two exposed nights with similar equivalent sound levels of 47 dB LpAeq, but with either a  ...  , and internet questionnaire survey on 160 patients.  ...  Simulation of time reversed acoustic inversion in shallow water.  ... 
doi:10.1121/1.4709059 fatcat:5yv7djzdifgwvlzymric4u65oa

Modal Analysis of Electric sail

Todd D. Lillian
2021 Acta Astronautica  
Frank Six for Sponsoring this work through the Summer Faculty Fellowship program. I also want to thank Dr.  ...  We also would like to thanks engineers and scientists at NASA MSFC ES36 group who took time and shared their thoughts and ideas on using wireless sensor network technologies in space applications.  ...  Figure 11 shows a rendering of the FEM top masses and their associated mass properties.  ... 
doi:10.1016/j.actaastro.2021.05.003 fatcat:haxb75tn2bd7xp43hw6hv4mlya

Conference Digest

2020 2020 IEEE Aerospace Conference  
The soft knee exoskeleton was shown to exert stiffness in parallel to the knee, analogous to stiffness exerted by a space suit.  ...  These results were then verified through various simulations on MATLAB.  ...  We include an analysis and discussion of ADTM's performance on several of these fault cases.  ... 
doi:10.1109/aero47225.2020.9172613 fatcat:ioqf5ijrx5gvffu3ls34aa2nsq

Modular soft pneumatic actuator system design for compliance matching

Matthew Aaron Robertson
2019
compliance: provided by passive elastic and flexible component material properties iii Abstract • Extrinsic compliance: rendered through high number of independent, controllable degrees of freedom • Complementary  ...  Never before has technology been as pervasive as it is today, with advanced mobile electronics hardware and multi-level network connectivity pushing "smart" devices deeper into our daily lives through  ...  The FEM models enable the simulation of the actuator and device performance under a variety of different loading scenarios and provide predictions on their capabilities prior to fabrication.  ... 
doi:10.5075/epfl-thesis-7594 fatcat:trg7iev3fndgbbkg2f7fjjmise

Optofluidic devices and applications

Demetri Psaltis, Wuzhou Song, Andreas E. Vasdekis
2012 2012 International Electron Devices Meeting  
His work focuses on the development of theoretical models to simulate electron energy losses of swift electrons traveling near surfaces; thin-film oxide synthesis with tailored properties, through the  ...  on microstructured multilayers as local temperature sensors based on Fabry-Perot resonators or liquid sensors based on porous Bragg microcavities.  ...  The study was approached using experiments, theoretical models, and FEA via computer simulations through FEM. Linear and nonlinear material models were simulated using COMSOL Multiphysics software.  ... 
doi:10.1109/iedm.2012.6479027 fatcat:hk4rogmukfdz5m53oct2gpz2ae
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