Hugo I. Medellín-Castillo

The development of a physics and constraint based haptic virtual assembly system

Purpose – This paper aims to report the development and key features of a novel virtual reality system for assembly planning and evaluation called Haptic Assembly and Manufacturing System (HAMS). The system is intended to be used as a tool for training, design analysis and path planning. Design/methodology/approach – The proposed system uses the physics-based modelling (PBM) to perform assemblies in virtual environments. Moreover, dynamic assembly constrains have been considered to reduce the degrees of freedom of virtual objects and enhance the virtual assembly performance. Findings – To evaluate the effectiveness and performance of HAMS, the assembly of various mechanical components has been carried out, and the results have shown that it can be effectively used to simulate, evaluate, plan and automatically formalise the assembly of complex models in a more natural and intuitive way. Research limitations/implications – The collision detection performance is the bottleneck in any virtual assembly system....

A new methodology to evaluate the performance of physics simulation engines in haptic virtual assembly

Purpose – In this study, a new methodology to evaluate the performance of physics simulation engines (PSEs) when used in haptic virtual assembly applications is proposed. This methodology can be used to assess the performance of any physics engine. To prove the feasibility of the proposed methodology, two-third party PSEs – Bullet and PhysXtm – were evaluated. The paper aims to discuss these issues. Design/methodology/approach – Eight assembly tests comprising variable geometric and dynamic complexity were conducted. The strengths and weaknesses of each simulation engine for haptic virtual assembly were identified by measuring different parameters such as task completion time, influence of weight perception and force feedback. Findings – The proposed tests have led to the development of a standard methodology by which physics engines can be compared and evaluated. The results have shown that when the assembly comprises complex shapes, Bullet has better performance than PhysX. It was also observed that the...

The evaluation of a novel haptic-enabled virtual reality approach for computer-aided cephalometry

BACKGROUND AND OBJECTIVE In oral and maxillofacial surgery, conventional radiographic cephalometry is one of the standard auxiliary tools for diagnosis and surgical planning. While contemporary computer-assisted cephalometric systems and methodologies support cephalometric analysis, they tend neither to be practical nor intuitive for practitioners. This is particularly the case for 3D methods since the associated landmarking process is difficult and time consuming. In addition to this, there are no 3D cephalometry norms or standards defined; therefore new landmark selection methods are required which will help facilitate their establishment. This paper presents and evaluates a novel haptic-enabled landmarking approach to overcome some of the difficulties and disadvantages of the current landmarking processes used in 2D and 3D cephalometry. METHOD In order to evaluate this new systems feasibility and performance, 21 dental surgeons (comprising 7 Novices, 7 Semi-experts and 7 Experts) performed a range of case studies using a haptic-enabled 2D, 2½D and 3D digital cephalometric analyses. RESULTS The results compared the 2D, 2½D and 3D cephalometric values, errors and standard deviations for each case study and associated group of participants and revealed that 3D cephalometry significantly reduced landmarking errors and variability compared to 2D methods. CONCLUSIONS Through enhancing the process by providing a sense of touch, the haptic-enabled 3D digital cephalometric approach was found to be feasible and more intuitive than its counterparts as well effective at reducing errors, the variability of the measurements taken and associated task completion times.

A complete structural performance analysis and modelling of hydroxyapatite scaffolds with variable porosity

The use of hydroxyapatite (HA) scaffolds for bone regeneration is an alternative procedure to treat bone defects due to cancer, other diseases or traumas. Although the use of HA has been widely studied in the literature, there are still some disparities regarding its mechanical performance. This paper presents a complete analysis of the structural performance of porous HA scaffolds based on experimental tests, numerical simulations and theoretical studies. HA scaffolds with variable porosity were considered and fabricated by the water-soluble polymer method, using poly vinyl alcohol as pore former. These scaffolds were then characterised by scanning electron microscopy, stereo microscopy, X-ray diffraction, porosity analysis and mechanical tests. Different scaffold models were proposed and analysed by the finite element method to obtain numerical predictions of the mechanical properties. Also theoretical predictions based on the (Gibson LJ, Ashby MF. 1988. Cellular solids: structure and properties. Oxford: Pergamon Press) model were obtained. Finally the experimental, numerical and theoretical results were compared. From this comparison, it was observed that the proposed numerical and theoretical models can be used to predict, with adequate accuracy, the mechanical performance of HA scaffolds for different porosity values.

Design for Rapid Prototyping, Manufacturing and Tooling: Guidelines

The design is an important step in the development of a product or component; many important decisions affecting the final cost and manufacturability of the product are made at this stage. Therefore several design guidelines for manufacturing and assembly (DFMA), ergonomics, maintenance, standardization, against corrosion, risk minimization, recycling, among others, have been proposed in the literature. The aim of these design guidelines is to provide designers with guidance to reduce costs, manufacturing difficulties, and increase the lifetime of a product. The use of new manufacturing techniques such as rapid prototyping, manufacturing and tooling (RPM&T) are increasing in the industry to speed up the design and development of products. However, there are not design guidelines for these emerging technologies.This paper focuses on establishing design for rapid prototyping, manufacturing and rapid tooling (DFRPM&T) guidelines. These guidelines are based on reviews and analysis of the operating principle, materials, capabilities and limitations of current commercially available RPM&T technologies. The proposed design guidelines are classified into three types: (1) design for rapid prototyping according to the geometric characteristics of the part, (2) part quality requirements, and (3) part costs and sustainability. Important features such as support structures, overhangs, rounded, knife edges, part orientation, path planning, distortion, shrinkage, warping, accuracy, stability, part post-processing, part cost and environmental resistance are considered in the proposed design for RPM&T guidelines.Copyright

Rapid Prototyping and Manufacturing: A Review of Current Technologies

The idea to develop processes capable to produce physical components quickly and without requiring tooling, led to the development of the “free form fabrication” (FFF) or “rapid prototyping” (RP) technologies in the early 1980s. RP systems generally build up a prototype directly from the computer-aided design (CAD) data by using an additive “layer by layer” method. The RP technologies have brought several advantages to the manufacturing industry in such a way that these technologies are evolving toward the production of end-use parts. This paper presents a review of rapid prototyping and manufacturing (RP&M) technologies from their origins. The review includes commercially available RP systems and RP technologies that are still at the development stage or that have been proposed. The operating principles and the features of these technologies are presented. Process parameters such as accuracy, layer thickness, operation speed are given. An extended classification of RP&M technologies is also included in this paper.Copyright

An evaluation of physics engines and their application in haptic virtual assembly environments

This paper presents a practical method and a new haptic model to support manipulations of bones and their segments during the planning of a surgical operation in a virtual environment using a haptic interface. To perform an effective dental surgery it is important to have all the operation related information of the patient available beforehand in order to plan the operation and avoid any complications. A haptic interface with a virtual and accurate patient model to support the planning of bone cuts is therefore critical, useful and necessary for the surgeons. The system proposed uses DICOM images taken from a digital tomography scanner and creates a mesh model of the filtered skull, from which the jaw bone can be isolated for further use. A novel solution for cutting the bones has been developed and it uses the haptic tool to determine and define the bone-cutting plane in the bone, and this new approach creates three new meshes of the original model. Using this approach the computational power is optimized and a real time feedback can be achieved during all bone manipulations. During the movement of the mesh cutting, a novel friction profile is predefined in the haptical system to simulate the force feedback feel of different densities in the bone.Whether from internal sources or arising from environmental sources, thermal error in most machine tools is inexorable. Out of several thermal error control methods, electronic compensation can be an easy-to-implement and cost effective solution. However, analytically locating the optimal thermally sensitive points within the machine structure for compensation has been a challenging task. This is especially true when complex structural deformations arising from the heat generated internally as well as long term environmental temperature fluctuations can only be controlled with a limited number of temperature inputs. This paper presents some case study results confirming the sensitivity to sensor location and a new efficient offline method for determining localized thermally sensitive points within the machine structure using finite element method (FEA) and Matlab software. Compared to the empirical and complex analytical methods, this software based method allows efficient and rapid optimization for detecting the most effective location(s) including practicality of installation. These sensitive points will contribute to the development and enhancement of new and existing thermal error compensation models respectively by updating them with the location information. The method is shown to provide significant benefits in the correlation of a simple thermal control model and comments are made on the efficiency with which this method could be practically applied.Virtual Reality (VR) applications are employed in engineering situation to simulate real and artificial situations where the user can interact with 3D models in real time. Within these applications the virtual environment must emulate real world physics such that the system behaviour and interaction are as natural as possible and to support realistic manufacturing applications. As a consequence of this focus, several simulation engines have been developed for various digital applications, including VR, to compute the physical response and body dynamics of objects. However, the performance of these physics engines within haptic-enabled VR applications varies considerably. In this study two third party physics engines - Bullet and PhysXtm- are evaluated to establish their appropriateness for haptic virtual assembly applications. With this objective in mind five assembly tasks were created with increasing assembly and geometry complexity. Each of these was carried out using the two different physics engines which had been implemented in a haptic-enabled virtual assembly platform specifically developed for this purpose. Several physics-performance parameters were also defined to aid the comparison. This approach and the subsequent results successfully demonstrated the key strengths, limitations, and weaknesses of the physics engines in haptic virtual assembly environments.Communicating the knowledge and science of product engineering, analysis and manufacturing planning is an area of continued research driven by the digital economy. Virtual Reality (VR) is a generally accepted interactive digital platform which industry and academia have used to model engineering workspaces. Interactive services that generate a sense of immersion, particularly the sense of touch to communicate shape modelling and manipulation, is increasingly being used in applications that range from Design For Manufacturing and Assembly (DFMA) and Process Planning (PP) to medical applications such as surgical planning and training. In simulation, the natural way for solid modelling is the use of primitive geometries, and combinations of them where complex shapes are required, to create, modify or manipulate models. However, this natural way makes use of Booleans operands that require large computational times which make them inappropriate for real time VR applications. This work presents an insight on new methods for haptic shape modelling focused on Boolean operands on a polygon mesh. This is not meant as a contrast to point/mesh- editing methods, instead it is focused on idealising polygonal mesh modelling and manipulation for use with haptics. The resulting models retain a high level of geometric detail for visualisation, modelling, manipulation and haptic rendering.

Effect of weight perception on human performance in a haptic-enabled virtual assembly platform

Virtual assembly platforms (VAPs) provide a means to interrogate product form, fit and function thereby shortening the design cycle time and improving product manufacturability while reducing assembly cost. VAPs lend themselves to training and can be used as offline programmable interfaces for planning and automation. Haptic devices are increasingly being chosen as the mode of interaction for VAPs over conventional glove-based and 3D-mice, the key benefit being the kinaesthetic feedback users receive while performing virtual assembly tasks in 2D/3D space leading to a virtual world closer to the real world. However, the challenge in recent years is to understand and evaluate the addedvalue of haptics. This paper reports on a haptic enabled VAP with a view to questioning the awareness of the environment and associated assembly tasks. The objective is to evaluate and compare human performance during virtual assembly and real-world assembly, and to identify conditions that may affect the performance of virtual assembly tasks. In particular, the effect of weight perception on virtual assembly tasks is investigated.

On the Development of Virtual Reality Scenarios for Computer-Assisted Biomedical Applications

The modelling of virtual environments and scenarios is an important area of research for the development of new computer-assisted systems in the areas of engineering and medicine, particularly in the area of biomechanics and biomedical engineering. One of the main issues while designing a virtual environment is the level of realism, which depends on the computing capacity and the level of accuracy and usefulness of the generated data. Thus, the dilemma is between the aesthetic realism and the information utility. This paper proposes a methodology to develop low-cost and high-quality virtual environments and scenarios for computer-aided biomedical applications. The proposed methodology is based on the open-source software Blender and the Visualization Toolkit libraries (VTK). In order to demonstrate the usability of the proposed methodology, the design and development of a computer-assisted biomedical application is presented and analysed.

Design and Control of a New Biomimetic Transfemoral Knee Prosthesis Using an Echo-Control Scheme

Passive knee prostheses require a significant amount of additional metabolic energy to carry out a gait cycle, therefore affecting the natural human walk performance. Current active knee prostheses are still limited because they do not reply with accuracy of the natural human knee movement, and the time response is relatively large. This paper presents the design and control of a new biomimetic-controlled transfemoral knee prosthesis based on a polycentric-type mechanism. The aim was to develop a knee prosthesis able to provide additional power and to mimic with accuracy of the natural human knee movement using a stable control strategy. The design of the knee mechanism was obtained from the body-guidance kinematics synthesis based on real human walking patterns obtained from computer vision and 3D reconstruction. A biomechanical evaluation of the synthesized prosthesis was then carried out. For the activation and control of the prosthesis, an echo-control strategy was proposed and developed. In this echo-control strategy, the sound side leg is sensed and synchronized with the activation of the knee prosthesis. An experimental prototype was built and evaluated in a test rig. The results revealed that the prosthetic knee is able to mimic the biomechanics of the human knee.