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)  
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 softrobotics 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
more » ... ser 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.
doi:10.1109/iros.2016.7759768 dblp:conf/iros/LargilliereCSGD16 fatcat:bslt4aqq6fg25iowcufssgxxfi