Virtual Reality and Augmented Reality by Bruno Arnaldi Pascal Guitton Guillaume Moreau & Pascal Guitton & Guillaume Moreau

Author:Bruno Arnaldi,Pascal Guitton,Guillaume Moreau & Pascal Guitton & Guillaume Moreau [Неизв.]
Language: eng
Format: epub
ISBN: 9781119341093
Publisher: John Wiley & Sons, Inc.
Published: 2018-03-13T00:00:00+00:00

Figure 3.11. The Scale 1 (left) and Able 7D (right) interfaces from Haption (©PSA Peugeot Citroën and Haption)

A second recurring fault with most commercially available haptic interfaces towards the end of the 1990s was the relatively low maximum apparent rigidity, which was of the order of 1000 to 3000 N/m. This did not greatly hinder the task of simulating fitting (assembly) tasks, inasmuch as it was possible to play on the visual modality, which predominated with respect to haptic modality, to give a greater impression of rigidity. On the contrary, this is redhibitory for applications used in training in technical actions, which have developed in large measure recently, especially in the medical field. For such applications, it is very important that the gesture be reproduced identically with respect to reality so that the students can reproduce the same sensory-motor schema on the patients as those they learnt in the simulation. This must be especially precise in dental and osteo-surgery as we are working on very hard objects. Much research has been carried out to increase the rigidity and the bandwidth of the force-feedback interface. The company Moog (www.moog.com) has developed a new haptic interface that is both rigid, thanks to a parallel structure, and very sensitive, thanks to force-sensors. This robot is integrated into a multimodal training platform for training in dentistry – the Simodont Dental Trainer. This is currently being tested by several dentistry schools [BAK 15]. CEA has also developed a new robot for maxillofacial surgery. This has greater rigidity, thanks to a great deal of work done on optimizing the action chain and thanks to a series of parallel hybrid structures. The bandwidth was increased by associating it with high-frequency vibrating wristbands [GOS 13] (see Figure 3.13).

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