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World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 250-255
Mario Cheng , The University of Queensland, School of Medicine, Brisbane Australia
Josh Passenger , The University of Queensland, School of Medicine, Brisbane Australia
Olivier Salvado , The University of Queensland, School of Medicine, Brisbane Australia
Stephan Riek , The University of Queensland, School of Human Movement Studies, Brisbane, Australia
Sebastien Ourselin , Centre for Medical Imaging Computing, University of College London, United Kingdom
Marcus Watson , Queensland Health Skills Development Centre, Royal Brisbane and Women's Hospital, Herston, Australia
Pneumatic control has been used for armature control of robots with pneumatic air muscles achieving accurate position control of the piston actuator with inexpensive solenoid valves. We describe a pneumatic fuzzy controller associated with a pulse width modulation conversion scheme in a novel haptic device within a colonoscopy simulation system. A rubber bladder was used to simulate forces experienced during abdominal palpation during colonoscopy. The haptic device showed good steady-state response when tested with step inputs. A settling time of 0.41s was achieved on positive control step and 0.52–0.81s for negative steps. Dynamic response was adequate for mimicking interactions during inflation stages while noticeably deficient during deflation periods. Tracking accuracy averaged 94.2% within 300ms of the reference input while the user was actively applying abdominal palpation and minor repositioning.

O. Salvado, J. Passenger, M. Cheng, S. Riek, M. Watson and S. Ourselin, "Pneumatic haptic interface fuzzy controller for simulation of abdominal palpations during colonoscopy," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 250-255.
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