Title :
Haptic force simulation for cardiac muscle palpation training system
Author :
Nakagawa, Yusuke ; Oguro, Ryuichi
Author_Institution :
Dept. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan
Abstract :
In this paper, we present the mechanical palpation training system for cardiac muscle treatment, and propose the spring-system model based on the feedback control, which is for a regeneration of palpation feeling. Our approach is to directly touch the linear actuator, get optical reactive force with the control of spring stretch and recognize it as a feeling. In order to decide the target position of the spring stretch, we need to know the quantity of finger force, i.e., disturbance. By using disturbance observer, the force can be estimated. This proposed control method is experimentally verified by the simulation results.
Keywords :
actuators; biomedical measurement; cardiology; feedback; force measurement; medical control systems; cardiac muscle palpation training system; cardiac muscle treatment; feedback control; finger force; haptic force simulation; linear actuator; mechanical palpation training system; optical reactive force; palpation feeling regeneration; spring stretch control; spring stretch position; spring system model; Cancer; Electronic mail; Fingers; Force control; Frequency estimation; Haptic interfaces; Modeling; Muscles; Oncological surgery; Springs; cardiac muscle palpation; cut-off angular frequency; displacement control; disturbance observer; estimation; haptic force; reactive force;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3