Design Procedure and Simulation of a Novel Multi-Modal Tactile Display Device for Biomedical Applications
Affiliation(s)
Mechatronics and Robotics Department,Egypt-Japan University of Science and Technology (E-JUST), Alexandria,Egypt. Mechatronics and Robotics Department,Egypt-Japan University of Science and Technology (E-JUST), Alexandria,Egypt;Department of Mechanical Engineering, Faculty of Engineering, Assiut University, Assiut, Egypt.
Mechatronics and Robotics Department,Egypt-Japan University of Science and Technology (E-JUST), Alexandria,Egypt. Mechatronics and Robotics Department,Egypt-Japan University of Science and Technology (E-JUST), Alexandria,Egypt;Department of Mechanical Engineering, Faculty of Engineering, Assiut University, Assiut, Egypt.
ABSTRACT
Tactile display is recently attracting much attention in the field of human computer interaction. There is a strong need for such a device especially for application in which the touch feeling is lost, such as surgeons willing to feel the tissue hardness during laparoscopic surgeries. In this paper, a novel multi-modal tactile display device which can display both surface shape and stiffness of an object is introduced. The conceptual design is built upon using two springs, made of Shape Memory Alloys-SMA, to control both shape and stiffness. The design parameters of this device are selected based on the spatial resolution of human finger and the stiffness range of the soft tissue. The display device is simulated using Finite Element Method, FEM, to study the effect of design parameters on the resulting stiffness. The results showed that the device can display stiffness of an object independent of its shape display. Simulation results confirmed that the stiffness display is stable when applying force by the finger during indentation for feeling stiffness, since the total stiffness error does not exceed 1.2%.
KEYWORDS
Tactile Display; Stiffness Display; Soft Tissues; Shape Memory Alloy—SMA, Finite Element Analysis
Tactile Display; Stiffness Display; Soft Tissues; Shape Memory Alloy—SMA, Finite Element Analysis
Cite this paper
Mansour, N. , Fath El-Bab, A. and Abdellatif, M. (2014) Design Procedure and Simulation of a Novel Multi-Modal Tactile Display Device for Biomedical Applications. Journal of Sensor Technology, 4, 7-17. doi: 10.4236/jst.2014.41002.
Mansour, N. , Fath El-Bab, A. and Abdellatif, M. (2014) Design Procedure and Simulation of a Novel Multi-Modal Tactile Display Device for Biomedical Applications. Journal of Sensor Technology, 4, 7-17. doi: 10.4236/jst.2014.41002.
References
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[1] Nakatani, M., Kajimoto, H., Sekiguchi, D., Kawakami, N. and Tachi, S. (2003) 3D Form Display with Shape Memory Alloy. ICAT, 8, 179-184. [2] Chouvardas, V.G., Miliou, A.N. and Hatalis, M.K. (2008) Tactile Displays: Overview and Recent Advances. Displays, 29, 185-194.
http://dx.doi.org/10.1016/j.displa.2007.07.003 [3] Asamura, N., Yokoyama, N. and Shinoda, H. (1999) A Method of Selective Stimulation to Epidermal Skin Receptors for Realistic Touch Feedback. Proceedings IEEE Virtual Reality Conference, Houston, 13-17 March 1999, 181-274. [4] Maeno, T., Kobayashi, K. and Yamazaki, N. (1998) Relationship between the Structure of Human Finger Tissue and the Location of Tactile Receptors. Bulletin of JSME International, 41, 94-100.
http://dx.doi.org/10.1299/jsmec.41.94 [5] Ottermo, M.V., Stavdahl and Johansen, R.A. (2005) Electromechanical Design of a Miniature Tactile Shape Display for Minimally Invasive Surgery. World Haptics, 561-562. [6] Talbi, A., Ducloux, O., Tiercelin, N., Deblock, Y., Pernod, P. and Preobrazhensky, V. (2006) Vibrotactile Using Micromachined Electromagnetic Actuators Array. Journal of Physics: Conference Series, 34, 637-642. [7] Debus, T., Jang, T.J., Dupont, P. and Howe, R.D. (2004) Multi-Channel Vibrotactile Display for Teleoperated Assembly. IEEE International Conference on Robotics and Automation, 1, 390-397. [8] Pasquero, J. and Hayward, V. (2003) Stress: A Practical Tactile Display System with One Millimeter Spatial Resolution and 700 Hz Refresh Rate. Proceedings of Eurohaptics, 94-110. [9] Wang, Q. and Hayward, V. (2006) Compact, Portable, Modular, High Performance, Distributed Tactile Display Device Based on lateral Skin Deformation. IEEE 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 67-72. [10] Taylor, P.M., Pollet, D.M., Hosseini-Sianaki, A. and Varley, C.J. (1998) Advances in an Electrorheological Fluid Based Tactile Array. Displays, 18, 135-141.
http://dx.doi.org/10.1016/S0141-9382(98)00014-6 [11] Sommer-Larsen, P. and Kornbluh, R. (2006) Overview and Recent Advances in Polymer Actuators. Actuator, 86-96. [12] Herr, H. and Kornbluh, R. (2004) New horizons for Orthotic and Prosthetic Technology: Artificial Muscle for Ambulation. Smart Structures and Materials: Electroactive Polymer Actuators and Devices, 5385. [13] Nakatani, M., Kajimoto, H., Vlack, K., Sekiguchi, D., Kawakami, N. and Tachi, S. (2005) Control Method for a 3D Form Display with Coil-Type Shape Memory Alloy. Proceedings of IEEE International Conference on Robotics and Automation, 2, 1332-1337. [14] Matsunaga, T., Totsu, K., Esashi, M. and Haga, Y. (2013) Tactile Display Using Shape Memory Alloy Micro-Coil Actuator and Magnetic Latch Mechanism. Displays, 34, 89-94.
http://dx.doi.org/10.1016/j.displa.2013.03.001 [15] Jairakrean, S. and Chanthasopeephan, T. (2009) Position Control of SMA Actuator for 3D Tactile Display. IEEE 11th International Conference on Rehabilitation Robotics, 23-26 June 2009, 234-239. [16] Ramiro, V. (2005) A Low-Cost Highly-Portable Tactile Display Based on Shape Memory Alloy Micro-Actuators. Proceedings of the IEEE International Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems, VECIMS. [17] Hayes, W.C., Keer, L.M., Herrmann, G. and Mockros, L.F. (1972) A Mathematical Analysis for Indentation Test of Articular Cartilage. Journal of Biomechanics, 5, 541-551.
http://dx.doi.org/10.1016/0021-9290(72)90010-3 [18] Miller, K., Chinzei, K., Orssengo, G. and Bednarz, P. (2000) Mechanical Properties of Brain Tissue In-Vivo: Experiment and Computer Simulation. Journal of Biomechanics, 33, 1369-1376. http://dx.doi.org/10.1016/S0021-9290(00)00120-2 [19] Farshad, M., Barbezat, M., Flüeler, P., Schmidlin, F., Graber, P. and Niederer, P. (1999) Material Characterization of the Pig Kidney in Relation with the Biomechanical Analysis of Renal Trauma. Journal of Biomechanics, 32, 417-425.
http://dx.doi.org/10.1016/S0021-9290(98)00180-8 [20] Kim, J., Tay, B.K., Stylopoulos, N., Rattner, D.W. and Srinivasan, M.A. (2003) Characterization of Intraabdominal Tissues from in Vivo Animal Experiments for Surgical Simulation. 6th International Medical Image Computing and Computer Assisted Intervention (MICCAI), 1, 206-213. [21] Zheng, Y. and Mak, A.F.T. (1999) Effective Elastic Properties for Lower Limb Soft Tissues from Manual Indentation Experiment. IEEE Transactions on Rehabilitation Engineering, 7, 257-267. http://dx.doi.org/10.1109/86.788463 [22] Voss, K.J. and Srinivasan, M.A. (1998) Investigation of the Internal Geometry and Mechanics of the Human Fingertip, in Vivo, Using Magnetic Resonance Imaging. Tech. Report, No. 622. Research Laboratory of Electronics, Massachusetts Institute of Technology. [23] Zhang, M., Zheng, Y.P. and Mak, A.F.T. (1997) Estimating the Effective Young’s Modulus of Soft Tissues from Indentation Tests-Nonlinear Finite Element Analysis of Effects of Friction and Large Deformation. Medical Engineering & Physics, 19, 512-517.
http://dx.doi.org/10.1016/S1350-4533(97)00017-9 [24] Falvo, A. (2008) Thermo Mechanical Characterization of Nickel-Titanium Shape Memory Alloys. PhD Thesis, Della Calabria Univ. [25] Parmley, R.O. (2000) Illustrated Sourcebook of Mechanical Components. 3rd Edition, McGraw-Hill.