Digital Signal Processing Reference
In-Depth Information
(XPS6, 30Dell) for simulation, a monitor to show the information, and a haptic device
(PHANTOM Omni®. SensAble Technologies, Inc.), and the software of OpenHaptic
toolkit, is shown in Figure 1.
Fig. 1.
The construction of the training system
3.2
Haptic Device PHANTOM
The PHANTOM is a 3D input-output haptic device capable of force interaction with
high precision. The interaction between a 3D object and the operator makes it possible
to present not only visual but also force information. The reaction force from the hand
when touching an object, therefore, can be real-timely represented, to achieve a high
operational effect with real-time response.
The PHANTOM Omni model is one of the highest cost-effective haptic devices
available today. Portable design, compact footprint, and IEEE-1394 FireWire® port
interface ensure quick installation and ease-of-use performance.
The PHANTOM is equipped with position sensors capable of doing precise force
operations. A reactive force corresponding to the hand movement is produced by
reverse rotating of inner motors to wind the wires. A 3D force vector is output on the
tip of the stylus by controlling the torque of the DC motor. The maximum force output
is 3.5N. A high rate of input-output change is achieved by 1 kHz high speed
processing. The PHANTOM was then introduced into the system considering such
characteristics. Acupuncture training with high reality, most near the practical sting, is
expected with the system.
3.3
Simulation Environment Configuration
The following functions were applied to the system in the construction of computer
simulation environment for acupuncture training using data base.
①
Presentation and variation of information on human body acu-points model, acu-
points and needle.
②
Simulation for stinging operation
③
Evaluation and scoring
④
Score management and password control
