Virtual Reality Interface in MATLAB/Simulink for mechatronic interface

Virtual Reality Interface in MATLAB/Simulink for mechatronic interface

D. Todorović, M. Božić, V. Zerbe, and G. S. Đorđević

OverviewOverviewIntroductionTelepresence2 d.o.f. joystick designForce feedback and tactile

sensationVirtual reality toolboxForces and information flowConclusion

MotivationMotivationModern video and audio

processing is rapidly developing.Unable to understand meaning of

interactionTelepresence is necessary to use

maximum from present technology

TelepresenceTelepresenceTeleconferencingThe most important use in robotic

telemedicineOn the same site (few meters

away)On remote siteTwo way information flow (position,

speed, force, image, voice…)To improve robotic surgery haptic

enabled interface is necessary.

2 d.o.f. joystick 2 d.o.f. joystick Paralelogram mechanism2 perpendicular axis

◦Humusoft MF624 interface PC card◦2 DC motor drivers

2 axis force sensorsLow cost developmentModeling and integration in

Matlab/Simulink◦Virtual reality toolbox◦Testing and iterative design

Mechanical designMechanical design

Force feedback and tactile Force feedback and tactile sensationsensationCrucial for improvements in robotic

surgeryTwo main components of such system

◦Sensorized surgical instrument (endoscope with force sensors on its tip)

◦Force-reflective human machine interface that mediates between surgeon and the robot.

Problems in communication, mechanical design and control algorithms◦Can be solved in simulated environment,

and then implemented and tested.

Virtual reality world in VR Virtual reality world in VR toolboxtoolboxPhysical models of objects being

controlled.Virtual world simulation (gravity,

friction, viscosity…)Simulink 3D animation product

◦Virtual worlds ◦Virtual worlds ◦Animation◦Manipulation◦Interaction

Forces and information Forces and information flowflow

Taxonomy of VR interfaceTaxonomy of VR interfaceRobotized application require

trainingEvaluation against taxonomy of

tasks◦Moving an object in VR with only

visual feedback◦Moving an object in VR with haptics

turned on◦Examination of trial-by-trial

performance.

ConclusionConclusionVirtual reality enabled

mechatronic system for haptic research.

Future research includes:◦Evaluation of different haptics (force

reflection) algorithms◦Does the haptics algorithm improve

the process of motor learning?◦Can this help during the training

period?

Thank you.Thank you.Any questions?