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Virtual haptic cell model for operator training

Horan, Ben, Lowe, Daniel, Ang, Quan-Zen, Asgari, Marzieh, Ghanbari, Ali and Nahavandi, Saeid 2011, Virtual haptic cell model for operator training, in ICMT 2011 : Proceedings of the 15th International Conference on Mechatronics Technology : Precision Mechatronics for Advanced Manufacturing, Service, and Medical Sectors, [ICMT], [Melbourne, Vic.], pp. 1-5.

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Title Virtual haptic cell model for operator training
Author(s) Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Lowe, Daniel
Ang, Quan-Zen
Asgari, MarziehORCID iD for Asgari, Marzieh orcid.org/0000-0001-7183-7156
Ghanbari, Ali
Nahavandi, Saeid
Conference name Mechatronics Technology. Conference (15th : 2011 : Melbourne, Vic.)
Conference location Melbourne, Vic.
Conference dates 30 Nov.-2 Dec. 2011
Title of proceedings ICMT 2011 : Proceedings of the 15th International Conference on Mechatronics Technology : Precision Mechatronics for Advanced Manufacturing, Service, and Medical Sectors
Editor(s) [Unknown]
Publication date 2011
Conference series International Conference on Mechatronics Technology
Start page 1
End page 5
Total pages 5
Publisher [ICMT]
Place of publication [Melbourne, Vic.]
Keyword(s) cell injection
haptic training
virtual training
haptic virtual fixtures
Summary Microrobotic cell injection is an area of growing research interest. Typically, operators rely on visual feedback to perceive the microscale environment and are subject to lengthy training times and low success rates. Haptic interaction offers the ability to utilise the operator’s haptic modality and to enhance operator performance. Our earlier work presented a haptically enabled system for assisting the operator with certain aspects of the cell injection task. The system aimed to enhance the operator’s controllability of the micropipette through a logical mapping between the haptic device and microrobot, as well as introducing virtual fixtures for haptic guidance. The system was also designed in such a way that given the availability of appropriate force sensors, haptic display of the cell penetration force is straightforward. This work presents our progress towards a virtual replication of the system, aimed at facilitating offline operator training. It is suggested that operators can use the virtual system to train offline and later transfer their skills to the physical system. In order to achieve the necessary representation of the cell within the virtual system, methods based on a particle-based cell model are utilised. In addition to providing the necessary visual representation, the cell model provides the ability to estimate cell penetration forces and haptically display them to the operator. Two different approaches to achieving the virtual system are discussed.
ISBN 9780732640187
Language eng
Field of Research 099999 Engineering not elsewhere classified
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2011, International Conference on Mechatronics Technology
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042238

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.