Haptic devices are increasingly important in medical training. Mid-air force-feedback systems using electromagnetic actuation are especially promising, offering non-contact feedback that enhances realism. This project aims to develop a magnetic rendering algorithm for a mid-air haptic device designed for medical training, addressing the need for improved simulation tools in medical education.
Breast cancer detection through palpation requires skill in identifying subtle tissue abnormalities. Current training methods rely on physical models or live patients, limiting accessibility. A mid-air haptic device provides realistic, repeatable training in a virtual environment, simulating the feel of breast tissue for palpation. However, precise modeling and control of electromagnetic forces remain challenges that this project will address
Tasks
- Mathematical Modeling: Develop a mathematical model of the 3D magnetic forces and torques generated by a mid-air force-feedback haptic device.
- Model Calibration: Design and implement calibration procedures to ensure accuracy in force and torque rendering, accounting for model uncertainties and field responses.
- Real-Time Closed-Loop Current Control: Design and tune a closed-loop current controller for precise electromagnetic coil actuation.
- Force control: Implement an open-loop force control algorithm to render realistic force haptic feedback for breast palpation.
- Experimental Validation: Experimentally validate and characterize the electromagnetic fields, forces, and torques generated by the haptic device to ensure performance accuracy and reliability.
Expected Contributions
- Development of an accurate 3D force/torque model for electromagnetic haptic devices.
- Real-time current and force control systems enabling realistic feedback in medical simulators.
- Experimental validation of mid-air force-feedback technology for medical training, particularly in breast cancer detection.
This project will be conducted using hardware from HAPMAG. HAPMAG will also provide technical support and solution.