Stiffness rendering on soft tangible devices controlled through inverse FEM simulation

Frédérick Largillière 1, 2, 3 Eulalie Coevoet 2 Mario Sanz-Lopez 2 Laurent Grisoni 1, 3 Christian Duriez 1, 2
2 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 MINT2 - Méthodes et outils pour l'Interaction à gestes
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : Haptic rendering of soft bodies is essential in medical simulations of procedures such as surgery or palpation. The most commonly used approach is to recreate the sense of touch using a specific design and control of a robotic arm. In this paper, we propose a new approach, based on soft-robotics technology. We create a tangible deformable device that allows users to " touch " soft tissues and perceive mechanical material properties, in a realistic manner. The device is able to dynamically provide user touch with different stiffness perceptions, thanks to actuators placed at the boundaries. We introduce a control algorithm, based on inverse Finite Element Analysis, which controls the actuators in order to recreate a desired stiffness that corresponds to the contact with soft tissues in the virtual environment. The approach uses antagonistic actuation principle to create a wide range of stiffness. We validate our algorithm and demonstrate the method using prototypes based on simple mechanisms.
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Frédérick Largillière, Eulalie Coevoet, Mario Sanz-Lopez, Laurent Grisoni, Christian Duriez. Stiffness rendering on soft tangible devices controlled through inverse FEM simulation. International Conference on Intelligent Robots and Systems - IROS 2016, Oct 2016, Daejeon, South Korea. ⟨hal-01386787⟩

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