CHS: Small: Toward a New Generation of Untethered Magnetic Haptic Interfaces

该项目将通过开发一种无束缚的手持界面来推进基于磁悬浮的触觉界面的科学和技术，在该界面中，磁力被施加到自由移动的工具上，而不是物理连接到更大设备上的手柄上。该项目将把力反馈设备扩展到一个新的发展浪潮中，包括自由移动。当前的触觉装置使用机械连接来向用户施加力和扭矩。这些新的无束缚设备将使用投射磁场和外部跟踪工具，使用户摆脱任何物理联系。该项目将有助于开发新的显微外科系统，可用于在对实际患者进行手术之前对新手外科医生进行培训和评估。该项目将研究一种新型的磁性触觉接口，一种不受约束的磁性接口，通过使用电磁体将其磁场投射到自由空间，将力/扭矩传递到连接到触针的永磁体。必须跟踪永磁体的位置和方向，以提供反馈，使设备作为触觉接口工作。与必须包裹触针一部分的洛伦兹力接口不同，该项目将产生一个无束缚的接口，其中触针可以完全从电磁系统中移除，从而消除触针和系统其余部分之间的物理链接，并将触针惯性降低到仅触针本身的惯性。该项目有三个目标：（1）发展的分析关系，将管理无约束的磁触觉接口。触觉设备的许多现有的基本原则将需要重新考虑，如工作空间大小，触针惯性，最大力/扭矩生成，最大稳定表面刚度和采样更新速率之间的基本权衡。(2)采用高速图像处理技术来跟踪不受约束的手动工具中可能的六个运动自由度。(3)实现一个原型的磁触觉接口，是优化模拟白内障手术。

This project will advance the science and technology of magnetic-levitation-based haptic interfaces by developing an untethered hand-held interface in which magnetic forces are applied to a freely moving tool rather than a handle that is physically attached to a larger device. The project will extend force-feedback devices into a new wave of development that incorporates free mobility. Current haptic devices use mechanically linkages to impart forces and torques to the user. These new untethered devices will use projected magnetic fields and an externally tracked tool so that the user is freed from any physical linkage. The project will contribute to the development of new microsurgical systems that can be used to train and evaluate novice surgeons prior to conducting surgery on actual patients.This project will investigate a new type of magnetic haptic interface, an untethered magnetic interface that renders force/torque to a permanent magnet attached to a stylus by using electromagnets that project their magnetic fields into free space. The position and orientation of the permanent magnet must be tracked to provide feedback for the device to work as a haptic interface. Unlike Lorentz-force interfaces, which must encase a portion of the stylus, the project will produce an untethered interface in which the stylus can be completely removed from the electromagnet system, thus eliminating the physical linkage between the haptic stylus and the rest of the system, and reducing stylus inertia to only that of the stylus itself. The project has three goals: (1) To develop the analytical relationships that will govern untethered magnetic haptic interfaces. Many of the existing basic principles for haptic devices will need to be reconsidered, such the fundamental trade-offs among workspace size, stylus inertia, maximum force/torque generation, maximum stable surface stiffness, and sampling update rate. (2) To adapt high-speed image-processing techniques to track the six degrees of freedom of movement that are possible in an untethered manual tool. (3) To realize a prototype magnetic haptic interface that is optimized for simulating cataract surgery.