Virtual haptic cell model for operator training

Microrobotic cell injection is an area of growing research interest. Typically, operators rely on visual feedback to perceive the microscale environment and are subject to lengthy training times and low success rates. Haptic interaction offers the ability to utilise the operator’s haptic modality and to enhance operator performance. Our earlier work presented a haptically enabled system for assisting the operator with certain aspects of the cell injection task. The system aimed to enhance the operator’s controllability of the micropipette through a logical mapping between the haptic device and microrobot, as well as introducing virtual fixtures for haptic guidance. The system was also designed in such a way that given the availability of appropriate force sensors, haptic display of the cell penetration force is straightforward. This work presents our progress towards a virtual replication of the system, aimed at facilitating offline operator training. It is suggested that operators can use the virtual system to train offline and later transfer their skills to the physical system. In order to achieve the necessary representation of the cell within the virtual system, methods based on a particle-based cell model are utilised. In addition to providing the necessary visual representation, the cell model provides the ability to estimate cell penetration forces and haptically display them to the operator. Two different approaches to achieving the virtual system are discussed.

A haptic platform to enable fingertip grasping and manipulation

Haptic technologies allow human users to haptically interact with virtual environments. Haptics has been employed in many application domains including operator training, virtual exploration and teleoperation. Currently, most commercially available haptic devices focus on a single point of haptic interaction. While single-point haptics have been successfully employed in many applications, they remain limited to particular types of haptic interaction. Multi-point haptic devices are a logical progression and facilitate a far wider range of interactions including object grasping, multi-finger object manipulation and size discrimination. The ability to effectively achieve such interactions offers significant benefits for many applications including virtual training, telesurgery and telemanipulation. In such applications, the ability to use multi-point haptic interactions can provide far more effective user interaction as well improved perception of the virtual environment.

A multi-point haptic platform for grasping and manipulating virtual objects

This work presents a multi-point haptic platform that employs two Phantom Omni haptic devices. A gripper attachment connects to both devices and enables multi-point haptic grasping in virtual environments. In contrast to more complex approaches, this setup benefits from low-cost, reliability, and ease of programming while being capable of independently rendering forces to each of the user’s fingertips. The ability to grasp with multiple points potentially lends itself to applications such as virtual training, telesurgery and telemanipulation.

Physical prototypes in cross-functional team collaboration : a study of the Model-T2 concept car project

Virtual and physical prototypes play a significant role in the design of artifacts. This is particularly true in cross-functional team collaboration, where diverse disciplines come together to contribute to the concept, design and development of an artifact. While the role of prototyping in design and cross-functional collaboration has been widely studied independently, little is known of the role that physical prototypes play during cross-functional team collaboration. This paper reports on a study of virtual and physical prototyping strategies used by a cross-functional team comprising engineers and designers working on a concept car project. The paper provides a background of the collaborative design process and details the role of physical prototyping methods during the design of the concept car.

Assessing health literacy : a new domain for collaboration between language testers and health professionals

Health literacy, defined as an individual's capacity to process health information in order to make appropriate health decisions, is the focus of increasing attention in medical fields due to growing awareness that suboptimal health literacy is associated with poorer health outcomes. To explore this issue, a number of instruments, reported to have high internal consistency and strong correlations with general literacy tests, have been developed. However, their validity as measures of the target construct is seldom explored using multiple sources of evidence. The current study, involving collaboration between health professionals and language specialists, set out to assess the validity of the Rapid Estimate of Adult Literacy in Medicine (REALM), which describes itself as a “reading recognition” test that measures ability to pronounce common medical and lay terms. Drawing on a sample of 310 respondents, including both native and non-native speakers of English, investigations were undertaken to probe the REALM's validity as a measure of understanding the selected terms and to consider associations between scores on this widely used test and those derived from other recognized health literacy tests. Results suggest that the REALM is underrepresenting the health literacy construct and that the test may also be biased against non-native speakers of English. The study points to an expanded role for language testers, working in collaboration with experts from medical disciplines, in developing and evaluating health literacy tools.

Function-based approach to mixed haptic effects rendering

Commonly, surface and solid haptic effects are defined in such a way that they hardly can be rendered together. We propose a method for defining mixed haptic effects including surface, solid, and force fields. These haptic effects can be applied to virtual scenes containing various objects, including polygon meshes, point clouds, impostors, and layered textures, voxel models as well as function-based shapes. Accordingly, we propose a way how to identify location of the haptic tool in such virtual scenes as well as consistently and seamlessly determine haptic effects when the haptic tool moves in the scenes with objects having different sizes, locations, and mutual penetrations. To provide for an efficient and flexible rendering of haptic effects, we propose to concurrently use explicit, implicit and parametric functions, and algorithmic procedures.

3D locomotion biomimetic robot fish with haptic feedback

This thesis developed a biomimetic robot fish and built a novel haptic robot fish system based on the kinematic modelling and three-dimentional computational fluid dynamic (CFD) hydrodynamic analysis. The most important contribution is the successful CFD simulation of the robot fish, supporting users in understanding the hydrodynamic properties around it.

Haptic microrobotic cell injection system

Microrobotic cell injection is the subject of increasing research interest. At present, an operator relies completely on visual information and can be subject to low success rates, poor repeatability, and extended training times. This paper focuses on increasing operator performance during cell injection in two ways. First, our completed haptic cell injection system aims to increase the operator's performance during real-time cell injection. Haptic bilateralism is investigated and a mapping framework provides an intuitive method for manoeuvring the micropipette in a manner similar to handheld needle insertion. Volumetric virtual fixtures are then introduced to haptically assist the operator to penetrate the cell at the desired location. The performance of the volumetric virtual fixtures is also discussed. Second, the haptically enabled cell injection system is replicated as a virtual environment facilitating virtual offline operator training. Virtual operator training utilizes the same mapping framework and haptic virtual fixtures as the physical system allowing the operator to train offline and then directly transfer their skills to real-time cell injection.

Competition or collaboration: policies and practices in international higher education

Universities in the twenty-first century experience numerous competing drivers that shape their sense of purpose and role in society, their perspectives of knowledge and its production and their overall sense of being in the world. One major force is marketplace discourse, in particular neo-liberalism and competition, which is discordant with the discourse of academic collaboration and collegial sharing. This review essay examines what it means to ‘be’ a university in light of these overarching discourses and what is envisioned for universities of the future.