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Virtual haptic cell model for operator training
conference contribution
posted on 2011-01-01, 00:00 authored by Ben HoranBen Horan, Daniel Lowe, Quan-Zen Ang, Marzieh AsgariMarzieh Asgari, A Ghanbari, Saeid NahavandiMicrorobotic 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.
History
Event
Mechatronics Technology. Conference (15th : 2011 : Melbourne, Vic.)Pagination
1 - 5Publisher
[ICMT]Location
Melbourne, Vic.Place of publication
[Melbourne, Vic.]Start date
2011-11-30End date
2011-12-02ISBN-13
9780732640187Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2011, International Conference on Mechatronics TechnologyTitle of proceedings
ICMT 2011 : Proceedings of the 15th International Conference on Mechatronics Technology : Precision Mechatronics for Advanced Manufacturing, Service, and Medical SectorsUsage metrics
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