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Virtual Reality Interface in MATLAB/Simulink for mechatronic interface

Virtual Reality Interface in MATLAB/Simulink for mechatronic interface. D. Todorovi ć , M. Božić , V. Zerbe , and G. S. Đorđević. Overview. Introduction Telepresence 2 d.o.f. joystick design Force feedback and tactile sensation Virtual reality toolbox Forces and information flow

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Virtual Reality Interface in MATLAB/Simulink for mechatronic interface

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  1. Virtual Reality Interface in MATLAB/Simulink for mechatronic interface D. Todorović, M. Božić, V. Zerbe, and G. S. Đorđević

  2. Overview • Introduction • Telepresence • 2 d.o.f. joystick design • Force feedback and tactile sensation • Virtual reality toolbox • Forces and information flow • Conclusion

  3. Motivation • Modern video and audio processing is rapidly developing. • Unable to understand meaning of interaction • Telepresence is necessary to use maximum from present technology

  4. Telepresence • Teleconferencing • The most important use in robotic telemedicine • On the same site (few meters away) • On remote site • Two way information flow (position, speed, force, image, voice…) • To improve robotic surgery haptic enabled interface is necessary.

  5. 2 d.o.f. joystick • Paralelogram mechanism • 2 perpendicular axis • Humusoft MF624 interface PC card • 2 DC motor drivers • 2 axis force sensors • Low cost development • Modeling and integration in Matlab/Simulink • Virtual reality toolbox • Testing and iterative design

  6. Mechanical design

  7. Force feedback and tactile sensation • Crucial for improvements in robotic surgery • Two main components of such system • Sensorized surgical instrument (endoscope with force sensors on its tip) • Force-reflective human machine interface that mediates between surgeon and the robot. • Problems in communication, mechanical design and control algorithms • Can be solved in simulated environment, and then implemented and tested.

  8. Virtual reality world in VR toolbox • Physical models of objects being controlled. • Virtual world simulation (gravity, friction, viscosity…) • Simulink 3D animation product • Virtual worlds • Virtual worlds • Animation • Manipulation • Interaction

  9. Forces and information flow

  10. Taxonomy of VR interface • Robotized application require training • Evaluation against taxonomy of tasks • Moving an object in VR with only visual feedback • Moving an object in VR with haptics turned on • Examination of trial-by-trial performance.

  11. Conclusion • Virtual reality enabled mechatronic system for haptic research. • Future research includes: • Evaluation of different haptics (force reflection) algorithms • Does the haptics algorithm improve the process of motor learning? • Can this help during the training period?

  12. Thank you. • Any questions?

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