Master-Slave teleoperation systems are designed to extend a human's manipulation capability to remote tasks. Recent applications of these systems are in robotic therapy, telesurgery, and medical simulators. In practice, due to the uncertainties in the operator and environment dynamics, and time delay, stability and performance are compromised. Stability-based and performance-based controllers are introduced for these systems. A major class of the former controllers are based on the passivity theory and suffer from the assumed unbounded range of dynamics which is rather unrealistic. The latter class of controllers are mostly adaptive methods that are based on performance optimization. The theme of this thesis is on the development of new stability analysis methods, control strategies, and implementation techniques for enhanced trade-off between stability and performance. I have developed a less conservative passivity-based robust stability method and introduced, for the first time, the notion of Bounded Impedance Absolute Stability. The method provides mathematical and visual aids to incorporate bounds of the passive environment impedance for less conservative guaranteed stability conditions, promising a better compromise between stability and performance. I have extended the new method to include the dynamic range of the human operator for increased stability margins. I have also used the new method to develop a bilateral controller robust to time delays. Furthermore, I have investigated the effect of sampling position versus velocity for various sampling models to obtain less conservative coupled stability conditions for haptic simulation systems. Estimates of the environment dynamics are required to include their variations. Therefore, I have proposed two new real-time parameter estimation methods for linear and nonlinear contacts and experimentally evaluated and compared them with the available techniques. Finally, I have introduced needle insertion as a task in telerobotic systems to combine the expertise of the surgeon with robotic control. Here, the very first few steps needed to effectively control the targeting needles have been taken. I have developed a mechanics-based dynamic model for bevel-tip flexible needles inserted into soft tissues. Finite element models are used to estimate soft tissue deformation, while the mechanics-based model is used to predict needle deflections due to bevel-tip asymmetry. / Thesis (Ph.D, Electrical & Computer Engineering) -- Queen's University, 2011-12-23 01:19:47.535

<p>Presently, it is possible to use virtual learning environments for simulating abstract and/or complex scientific concepts. Multimodal Virtual Learning Environments use multiple sensory stimuli, including haptic feedback, in the representation of concepts. Past research</p> <p>on the utilization of haptics for learning has shown inconsistent results when gains in conceptual knowledge had been assessed. This research focused on two abstract phenomena</p> <p>Electricity and Magnetism and Buoyancy. These abstract concepts were experienced by students using either visual, visuo-haptic, or hands-on learning activities. Embodied</p> <p>Cognition Theory was used as a for the implementation of the learning environments. Both phenomena were assessed using qualitative and quantitative data analysis techniques.</p> <p>Results suggested that haptic, visual, and physical modalities affected positively the acquisition of conceptual knowledge of both concepts.</p>

<p>Recently, exploration to develop creative and technology-centered learning techniques have become popular. Researchers work on non-traditional tools to help students understand abstract concepts and reduce misconceptions in physics education. Studies have been performed to explore the influence computer simulations can make on learning as compared to the traditional methods. Simulations with dynamic moving images which engage visual senses have helped improve learning, while haptic channels are unexplored in comparison tactile senses are crucial in the case of embodied cognitive learning.</p><p><br></p><p>This thesis takes an opportunity to explore the research area of haptic technology combined with visual simulation. It tests the efficiency of the learning environment developed as a part of this thesis called the Visuo-Haptic Pulley Simulation (ViHaPS) in learning concepts of when compared to traditional learning tools. ViHaPS consists of six different scenarios and is designed to address common misconceptions of pulleys and has two different modes - minimal visual cues and added visual cues. Undergraduate students enrolled at Purdue University participated in this research. They were formed into two groups - an experimental group (ViHaPS) and control group (physical manipulatives) and were compared for learning gains.</p><p> </p><p><br></p><p>Results indicate that ViHaPS is useful in learning concepts of pulleys; however, the results are not significant in comparison to the real experimentation with pulleys.</p>

Le développement rapide des nouvelles technologies numériques est en passe de révolutionner l’enseignement classique de l’odontologie comme dans de nombreuses spécialités médicales. En effet, l’avènement de nouveaux dispositifs alliant réalité virtuelle et dispositif haptique permettant de simuler au plus juste les gestes techniques de l’odontologie, laisse entrevoir la possibilité d’évaluer plus objectivement les compétences des futurs Chirurgiens-Dentistes et de renforcer la formation traditionnelle. Au travers de différentes expérimentations pédagogiques dans les domaines de l’implantologie, de la dentisterie restauratrice et de la chirurgie orale, nous avons voulu : (i) évaluer l’impact de la simulation haptique sur la formation en odontologie en nous focalisant sur l’implantologie et la dentisterie restauratrice ; (ii) définir de nouveaux paramètres pédagogiques pour essayer de les évaluer objectivement et estimer l’importance de la vision 3D en simulation / The rapid development of new digital technologies is revolutionizing the classical teaching of dentistry as in many medical specialties. Indeed, the advent of new devices combining virtual reality with a haptic device allowing to simulate the technical gestures of odontology, suggests the possibility to evaluate the skills of future Dentists more objectively and to strengthen traditional training. Through various educational experiments in the fields of implantology, restorative dentistry and oral surgery, we wanted to: (i) assess the impact of haptic simulation on odontology training by focusing on implantology and restorative dentistry ; (ii) define new objectively evaluable pedagogical parameters and to estimate the importance of 3D vision in simulation