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Virtual reality robotic telesurgery simulations using MEMICA haptic systemThe authors conceived a haptic mechanism called MEMICA (Remote Mechanical Mirroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace haptic system. The development of a novel MEMICA gloves and virtual reality models are being explored to allow simulation of telesurgery and other applications. The MEMICA gloves are being designed to provide intuitive mirroring of the conditions at a virtual site where a robot simulates the presence of a human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and electrically controlled force and stiffness (ECFS) actuators that are based on the use of Electro-Rheological Fluids (ERF. In this paper the design of the MEMICA system and initial experimental results are presented.
Document ID
20060044103
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Bar-Cohen, Yoseph
Mavroidis, Constantinos
Bouzit, Mourad
Dolgin, Benjamin
Harm, Deborah L.
Kopchok, George E.
White, Rodney
Date Acquired
August 23, 2013
Publication Date
March 5, 2001
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: 8th Annual International Symposium on Smart Structures
Location: Newport Beach, CA
Country: United States
Start Date: March 5, 2001
End Date: March 8, 2001
Distribution Limits
Public
Copyright
Other
Keywords
Haptic interfaces
controlled stiffness
virtual surgery
Remote MEcahnical MIrroring using Control stiffness Actuators (MEMICA)
medical training
Electro-Rheological Fluids (ERF)

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