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Simulation and control of sensory-mode interaction

Mohamad Hanif, Noor Hazrin Hany and Elamvazuthi, Irraivan and Sulaiman, Suziah and Shoon, So Oo (2009) Simulation and control of sensory-mode interaction. International Journal of Engineering & Technology (IJET), 9 (10). pp. 61-66. ISSN 2227-2712 E-ISSN 2077-1185

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Haptics, the sensation of physical touch to the virtual objects, is the most recent enhancement to virtual environment. With haptic simulation, virtual objects with different properties could be created to touch using haptic device. In current medical practice, haptics technology is being used to aid surgeons to perform surgical procedures such as needle insertion. It is vital that the penetration of the needle does not cause injury to the patients. However, the available technology does not address issues such as tissue texture and the depth of penetration. This project is about the simulation of sensory mode interaction of virtual objects of different stiffness and friction using PHANToM Haptic device. The penetration depth and force exerted into the objects should be within limit to avoid any deformity to the objects. PID controller is incorporated into the system to eliminate steady state errors as well as to ensure better transient response. To conduct the specified work, MATLAB software was used. Experimental results on the sensory mode interaction have proven the ability of the system to touch the objects within specified object limits. Simulated results on the system response have also shown the capability of the controller to provide fast and accurate response of the haptic device

Item Type: Article (Journal)
Additional Information: 7661/65132 This journal paper was published while I was an academic staff in Universiti Teknologi PETRONAS.
Uncontrolled Keywords: Control, haptic, PHANToM, sensory mode interaction
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering
Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: DR Noor Hazrin Hany Mohamad Hanif
Date Deposited: 30 Aug 2018 16:30
Last Modified: 30 Aug 2018 16:32
URI: http://irep.iium.edu.my/id/eprint/65132

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