Simultaneous remote haptic collaboration for assembling tasks

Stand-alone virtual environments (VEs) using haptic devices have proved useful for assembly/disassembly simulation of mechanical components. Nowadays, collaborative haptic virtual environments (CHVEs) are also emerging. A new peer-to-peer collaborative haptic assembly simulator (CHAS) has been developed whereby two users can simultaneously carry out assembly tasks using haptic devices. Two major challenges have been addressed: virtual scene synchronization (consistency) and the provision of a reliable and effective haptic feedback. A consistency-maintenance scheme has been designed to solve the challenge of achieving consistency. Results show that consistency is guaranteed. Furthermore, a force-smoothing algorithm has been developed which is shown to improve the quality of force feedback under adverse network conditions. A range of laboratory experiments and several real trials between Labein (Spain) and Queen’s University Belfast (Northern Ireland) have verified that CHAS can provide an adequate haptic interaction when both users perform remote assemblies (assembly of one user’s object with an object grasped by the other user). Moreover, when collisions between grasped objects occur (dependent collisions), the haptic feedback usually provides satisfactory haptic perception. Based on a qualitative study, it is shown that the haptic feedback obtained during remote assemblies with dependent collisions can continue to improve the sense of co-presence between users with regard to only visual feedback.

Providing QoS for networked peers in distributed haptic virtual environments

Haptic information originates from a different human sense (touch), therefore the quality of service (QoS) required to supporthaptic traffic is significantly different from that used to support conventional real-time traffic such as voice or video. Each type ofnetwork impairment has different (and severe) impacts on the user’s haptic experience. There has been no specific provision of QoSparameters for haptic interaction. Previous research into distributed haptic virtual environments (DHVEs) have concentrated onsynchronization of positions (haptic device or virtual objects), and are based on client-server architectures.We present a new peerto-peer DHVE architecture that further extends this to enable force interactions between two users whereby force data are sent tothe remote peer in addition to positional information. The work presented involves both simulation and practical experimentationwhere multimodal data is transmitted over a QoS-enabled IP network. Both forms of experiment produce consistent results whichshow that the use of specific QoS classes for haptic traffic will reduce network delay and jitter, leading to improvements in users’haptic experiences with these types of applications.

Development of calcium phosphate cement for the augmentation of traumatically fractured porcine specimens using vertebroplasty

The study aim was to develop and apply an experimental technique to determine the biomechanical effect of polymethylmethacrylate (PMMA) and calcium phosphate (CaP) cement on the stiffness and strength of augmented vertebrae following traumatic fracture. Twelve burst type fractures were generated in porcine three-vertebra segments. The specimens were randomly split into two groups (n=6), imaged using microCT and tested under axial loading. The two groups of fractured specimens underwent a vertebroplasty procedure, one group was augmented with CaP cement designed and developed at Queen's University Belfast. The other group was augmented with PMMA cement (WHW Plastics, Hull, UK). The specimens were imaged and re-tested . An intact single vertebra specimen group (n=12) was also imaged and tested under axial loading. A significant decrease (p<0.01) was found between the stiffness of the fractured and intact groups, demonstrating that the fractures generated were sufficiently severe, to adversely affect mechanical behaviour. Significant increase (p<0.01) in failure load was found for the specimen group augmented with the PMMA cement compared to the pre-augmentation group, conversely, no significant increase (p<0.01) was found in the failure load of the specimens augmented with CaP cement, this is attributed to the significantly (p<0.05) lower volume of CaP cement that was successfully injected into the fracture, compared to the PMMA cement. The effect of the percentage of cement fracture fill, cement modulus on the specimen stiffness and ultimate failure load could be investigated further by using the methods developed within this study to test a more injectable CaP cement.