11. Teletaction Using a Linear Actuator Feedback-Based Tactile Display

  1. Saeed Sokhanvar1,
  2. Javad Dargahi2,
  3. Siamak Najarian3 and
  4. Siamak Arbatani2

Published Online: 6 NOV 2012

DOI: 10.1002/9781118357989.ch11

Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics

Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics

How to Cite

Sokhanvar, S., Dargahi, J., Najarian, S. and Arbatani, S. (2012) Teletaction Using a Linear Actuator Feedback-Based Tactile Display, in Tactile Sensing and Displays: Haptic Feedback for Minimally Invasive Surgery and Robotics, John Wiley & Sons, Ltd, Chichester, UK. doi: 10.1002/9781118357989.ch11

Author Information

  1. 1

    Helbling Precision Engineering Inc., USA

  2. 2

    Concordia University, Montreal, Canada

  3. 3

    Amirkabir University of Technology, Tehran, Iran

Publication History

  1. Published Online: 6 NOV 2012
  2. Published Print: 23 NOV 2012

ISBN Information

Print ISBN: 9781119972495

Online ISBN: 9781118357989

SEARCH

Keywords:

  • teletaction using linear actuator feedback-based tactile display;
  • tactile display for material softness, and their properties;
  • material nonlinear behavior, and softness of touched material;
  • force sensor, force exerted from finger to shaft tip;
  • FSR of PTF, determining FSR force–conductance;
  • shaft position sensors for shaft position;
  • force–displacement, simulating same elastomeric behavior;
  • PID controller using open-loop/state-space, parameter optimizing;
  • position–force curve of EVA, reconstructed, utilizing tactile display;
  • telerobotic and virtual reality, stress–strain to force–compression

Summary

This chapter contains sections titled:

  • System Design

  • Tactile Actuator

  • Force Sensor

  • Shaft Position Sensor

  • Stress–Strain Curves

  • PID Controller

  • Processing Software

  • Experiments

  • Results and Discussion

  • Summary and Conclusion

  • References