Modeling Tactile Feedback Realized by Piezoelectrical Actuator

Lack of the haptic feedback in the minimally invasive surgery often results in the increase of the complexity and duration of the surgical operation. This study aims at creation of a system that provides transmission of tactile sensation and consists of a master manipulator, control unit, and actuator equipped with a force sensor. The user pushes the button on the manipulator. The motion of this button is synchronized with the motion of the slave actuator that indents into the soft tissue. The load upon the indenter is measured by the force sensor and transmitted to the control unit. The control unit determines the operating frequency of a piezoelectric actuator in such a way that the actuator generates a force corresponding to the measured load. This force is applied to the button of the manipulator, and the user feels it. Thus, the system ensures the tactile feedback. Mathematical model of the system is created. In order to describe the dynamics of the actuator subsystem, a simplified empirical model is used. Parameters of the model are identified based on experimental data. Numerical simulation of dynamics of the system is performed using the determined values of parameters for the case when the button moves harmonically. Soft tissue is modeled by linear elastic springs with different stiffness coefficients. Influence of the dry friction between slider and its guide is analyzed. It is shown that the system ensures tactile sensing and allows distinguishing objects with different stiffness characteristics based on maximum value of the force experienced by the user from the part of the button and the rate of growth of this force.

тактильное очувствление, пьезоэлектрический привод, математическая модель, идентификация параметров, локальная жесткость, трение, tactile sensing, piezoelectrical actuator, mathematical model, parameter identification, local stiffness, friction

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