abstract: We experience spatial separation and temporal asynchrony between visual and haptic information in many virtual-reality, augmented-reality, or teleoperation systems. Three studies were conducted to examine the spatial and temporal characteristic of multisensory integration. Participants interacted with virtual springs using both visual and haptic senses, and their perception of stiffness and ability to differentiate stiffness were measured. The results revealed that a constant visual delay increased the perceived stiffness, while a variable visual delay made participants depend more on the haptic sensations in stiffness perception. We also found that participants judged stiffness stiffer when they interact with virtual springs at faster speeds, and interaction speed was positively correlated with stiffness overestimation. In addition, it has been found that participants could learn an association between visual and haptic inputs despite the fact that they were spatially separated, resulting in the improvement of typing performance. These results show the limitations of Maximum-Likelihood Estimation model, suggesting that a Bayesian inference model should be used. / Dissertation/Thesis / Doctoral Dissertation Human Systems Engineering 2017

abstract: The human hand comprises complex sensorimotor functions that can be impaired by neurological diseases and traumatic injuries. Effective rehabilitation can bring the impaired hand back to a functional state because of the plasticity of the central nervous system to relearn and remodel the lost synapses in the brain. Current rehabilitation therapies focus on strengthening motor skills, such as grasping, employ multiple objects of varying stiffness and devices that are bulky, costly, and have limited range of stiffness due to the rigid mechanisms employed in their variable stiffness actuators. This research project presents a portable cost-effective soft robotic haptic device with a broad stiffness range that is adjustable and can be utilized in both clinical and home settings. The device eliminates the need for multiple objects by employing a pneumatic soft structure made with highly compliant materials that act as the actuator as well as the structure of the haptic interface. It is made with interchangeable soft elastomeric sleeves that can be customized to include materials of varying stiffness to increase or decrease the stiffness range. The device is fabricated using existing 3D printing technologies, and polymer molding and casting techniques, thus keeping the cost low and throughput high. The haptic interface is linked to either an open-loop system that allows for an increased pressure during usage or closed-loop system that provides pressure regulation in accordance with the stiffness the user specifies. A preliminary evaluation is performed to characterize the effective controllable region of variance in stiffness. Results indicate that the region of controllable stiffness was in the center of the device, where the stiffness appeared to plateau with each increase in pressure. The two control systems are tested to derive relationships between internal pressure, grasping force exertion on the surface, and displacement using multiple probing points on the haptic device. Additional quantitative evaluation is performed with study participants and juxtaposed to a qualitative analysis to ensure adequate perception in compliance variance. Finally, a qualitative evaluation showed that greater than 60% of the trials resulted in the correct perception of stiffness in the haptic device. / Dissertation/Thesis / Masters Thesis Biomedical Engineering 2018

abstract: The world’s population is currently 9% visually impaired. Medical sciences do not have a biological fix that can cure this visual impairment. Visually impaired people are currently being assisted with biological fixes or assistive devices. The current assistive devices are limited in size as well as resolution. This thesis presents the development and experimental validation of a control system for a new vibrotactile haptic display that is currently in development. In order to allow the vibrotactile haptic display to be used to represent motion, the control system must be able to change the image displayed at a rate of at least 30 frames/second. In order to achieve this, this thesis introduces and investigates the use of three improvements: threading, change filtering, and wave libraries. Through these methods, it is determined that an average of 40 frames/second can be achieved. / Dissertation/Thesis / Masters Thesis Engineering 2018

A atividade exploratoria em tarefas de ancoragem haptica exerce um efeito positivo em tarefas desafiadoras ao controle postural. A melhora ou reducao da instabilidade postural em tarefas de ancoragem foi comprovada em diversos grupos (i.e., adultos jovens, adultos idosos, criancas, e participantes com deficiencia) e condicoes experimentais (i.e., variados niveis de complexidade de tarefa postural). O problema deste estudo foi analisar em contextos de tarefas posturais se existe uma relacao entre o desequilibrio homeostatico provocado pelo exercicio fisico de esforco maximo (que afeta o sistema postural pelo impacto no sistema autonomo) e o sistema haptico (que integra adicional estrategia de controle voluntario ao sistema postural). O objetivo do nosso estudo foi testar se a informacao haptica proporcionada pelo uso do sistema ancora exibe efeitos imediatos de atenuacao dos niveis de instabilidade postural aumentada pela fadiga geral decorrente do exercicio fisico maximo. O sistema ancora incorpora atividade exploratoria simultanea a execucao de uma tarefa postural desafiadora. O contexto de ancoragem inclui o manejo de dois cabos flexiveis com cargas anexas em suas extremidades que possibilita a exploracao haptica. Neste estudo, dois grupos foram compostos, um grupo experimental com vinte e tres adultos jovens fisicamente ativos e um grupo controle composto de dez adultos jovens. Ambos os grupos realizaram duas sessoes experimentais (com ancora; sem ancora) com tarefas de controle postural. Para o grupo experimental, as duas sessoes consistiram em: a. uma tarefa de equilibrio antes do esforco fisico, b. um protocolo incremental de esforco, e c. tarefas de equilibrio apos o protocolo de esforco realizados em 4 diferentes momentos ate 15 minutos. Para a inducao do esforco fisico, utilizamos um protocolo incremental maximo em esteira ergometrica, e as duas sessoes experimentais foram realizadas em dias diferentes com prazo maximo entre elas de 14 dias. O grupo controle realizou as mesmas sessoes, entretanto o protocolo de inducao ao esforco fisico foi substituido por um periodo equivalente de descanso. O objetivo da existencia do grupo controle foi verificar a presenca de um efeito de aprendizagem durante a execucao das tarefas. Os resultados para o grupo experimental das variaveis relacionados ao deslocamento do CT, no dominio do tempo mostraram que a informacao haptica proveniente do sistema ancora atenuou a instabilidade postural durante condicoes de tarefas de controle postural onde o participante encontrava-se sob os efeitos da fadiga. Em todas as condicoes experimentais, o exercicio fisico maximo na esteira produziu um aumento na oscilacao postural, como esperado. Entretanto, quando a informacao haptica foi associada na tarefa experimental, a oscilacao postural foi significativamente diminuida. Embora a informacao haptica tenha atenuado significativamente os efeitos da fadiga geral sobre os niveis de oscilacao postural, a velocidade de recuperacao dos valores basais da oscilacao postural foi, na condicao de ancoragem, reduzida dada sua proximidade com os valores de oscilacao tipicos da tarefa sem a fadiga. Os resultados do grupo controle demonstraram que as tarefas utilizadas nao foram suficientes para promover um efeito de aprendizagem. O organismo a partir de estimulos de curto prazo compensou os efeitos de degradacao do equilibrio provocados pela fatiga. A informacao haptica foi util para o sistema de controle da postura compensar os efeitos de perturbacao causados pela fadiga. / Exploratory activity during haptic anchoring has a positive effect during challenging postural control tasks. In such case, improvement of postural stability has been demonstrated in a variety of groups (i.e., young adults, older adults, children, and disabled participants) and experimental conditions (i.e., different levels of postural task complexity). The issue of this study is to analyze in contexts of postural tasks whether there is a relation between the homeostatic imbalance caused by maximal physical exertion (that affects the postural system by the impact on the autonomic system) and the haptic system (which integrates additional strategy of voluntary control to the postural system). The purpose of our study was to test whether the haptic information provided by the use of the anchor system exhibits immediate effects on attenuation of postural instability levels increased by general fatigue caused by maximal physical exertion. The anchor system incorporates simultaneous exploratory activity to the execution of a challenging postural task. The anchoring context includes the handling of two flexible cables with loads attached at their ends that enable haptic exploration. In this study, two groups were composed, an experimental group with twenty-three physically active young adults and a control group composed of ten young adults. Both groups performed two experimental sessions (with anchor, without anchor) with tasks of postural control. For the experimental group, the two sessions consisted of: a. balance tasks before physical effort, b. exposure to an incremental exercise protocol, and c. balance tasks after the exercise protocol distributed in 4 periods up to 15 minutes. To induce physical exertion, we used a maximum incremental protocol on a treadmill, and two experimental sessions were conducted on different days with a maximum of 14 days between them. The control group performed the same sessions, however the protocol of induction to physical effort was replaced by an equivalent period of rest. The aim of the control group was to verify the presence of a learning effect during the execution of the tasks. The results for the experimental group of variables related to CT displacement in time domain showed that haptic information from the anchor system attenuated postural instability during conditions of postural control tasks where the participant was under effects of fatigue. In all experimental conditions maximal physical exercise on the treadmill increased postural oscillation, as expected. However, when the haptic information was associated with the experimental task, the postural sway was significantly decreased. Although haptic information significantly attenuated the effects of general fatigue on postural sway the rate of recovery of the basal values of the postural sway was, in the anchoring condition, reduced because of its proximity to the typical oscillation values of the task without the fatigue. The results of the control group demonstrated that the tasks used were not enough to promote a learning effect. The organism from short-term stimuli compensated for the effects of balance degradation caused by fatigue. Haptic information was useful for the posture control system to compensate for the disturbance effects caused by fatigue.

Le rayonnement synchrotron et la microscopie à sondes locales (SPM) sont deux des techniques les plus utilisées pour étudier les propriétés physiques et chimiques de nanostructures. Le couplage de ces deux techniques est prometteur pour les nanosciences en leur ouvrant de nouveaux horizons. D'un point de vue expérimental ce couplage est un défi exaltant et a déjà prouvé ses capacités par la combinaison de la Microscopie à Force Atomique (AFM) et de la diffraction de Rayons-X pendant le projet X-tip, qui, grâce au développement d'un microcope à force atomique embarqué sur une lugne de lumière synchrotron a permis l'étude du module de Young de microplots de germanium en procédant simulatanément à son indentation et à son analyse par diffraction. Cependant, cette configuration ne permet pas de manipuler en trois dimensions (3D). Le but ultime, pour notre nano-manipulateur est de manipuler en 3D avec un contrôle permanent des nano-forces exercées sur l'objet sous un faisceau d'analyse (rayon X, LASER). Le premier chapitre s'attarde donc sur les senseurs qui devront rendre compte des interactions à l'échelle nanométrique et permettre la saisie d'un objet individuel. Après un tour d'horizon de différentes techniques de micro/nanomanipulation disponibles à ce jour (micro-préhenseurs mécaniques basés sur la technologie MEMS, pinces optiques, préhenseurs basés sur la microscopie à force atomique conventionnelle) et devant les contraintes qu'implique le couplage d'un tel système avec les expériences synchrotron, le choix des oscillateurs à quartz (Diapason et LER) en tant que senseurs est expliqué. La microscopie à force atomique en générale et le fonctionnement particulier de ces oscillateurs sont décrits. Dans le second chapitre le développement instrumental de notre station de nanomanipulation est détaillé et notamment : Comment mettre en place ce type de résonateurs et la pointe associée pour réaliser à la fois l'imagerie AFM de l'échantillon et la préhension de l'objet? Comment contrôler le positionnement grossier et fin des trois éléments d'une nanomanipulation? Enfin le système haptique ERGOS et son couplage avec notre montage est décrit. Dans le dernier chapitre, deux types d'expériences sont présentés : le premier ne fait intervenir que notre montage piloté classiquement par ordinateur et montre ses capacités à réaliser la préhension d'objets micrométriques de manière contrôlée. Le second fait intervenir le couplage entre notre montage et le système haptique pour réaliser l'exploration rapide d'un échantillon ainsi que la localisation et la reconnaissance de forme d'objet sub-micronique. Ces expériences rendent compte des capacités de ce couplage à transmettre directement à un utilisateur les interactions à l'échelle nanométrique ainsi que la possibilité par l'intermédiaire de cette interface de réaliser des tâches complexes : manipulation sur une surface, reconnaissance de forme, et suivi de contour. / The synchrotron radiation and scanning probe microscopy (SPM) are the (two) most used techniques to study the physical and chimical properties of nanostructures. Coupling these two techniques is promising for the nanosciences by opening news horizons. From an experimental point of view, this coupling is an exciting challenge and has already proven its skills with the combination of Atomic Force Microscopy (AFM) and X-Ray diffraction during the X-tip project, which, thanks to the development of an atomic force microscope embended on a synchrotron beamline, has permitted to study Young's modulus of germanium microplots proceeding simultaneously with its indentation and its diffraction analysis. However, this configuration doesn't permit a three dimension (3D) manipulation. The ultimate goal, for our nano-manipulator, is to manipulate in 3D with a permanent control of nano-forces exerted on the object undcer a scanning beam (X-Ray, laser). The first chapter therefore focuses on the sensors which measure the interactions at a nanometer scale and permit the seizure of an individual object. After an overview of the differents techniques of micro/nano-manipulation available today ( mechanical micro-grippers based on MEMS technology, optic tweezers, grippers based on conventionnal atomic force microscopy), and in front of the constraints implied by the coupling of this kind of system with the synchrotron experiments, the choice of quartz oscillators (Tunning fork and LER) as sensors is explained. The atomic force microscopy in general and the particular behavior of these oscillators is described. In the second chapter, the instrumental development of our nano-manipulation station is detailed and especially : How to implement this type of resonators and the associated tip to achieve both AFM imaging of the sample and gripping of the object ? How to control the coarse and fine positionning of the three elements of a nano-manipulation ? Finally, the haptic system ERGOS et its coupling with our assembly is describe. In the last chapter, two types of experiments are presented : the first involves only our assembly piloted classically with a computer and show its skills in the achievement of gripping of micrometric objects in a controled way. The second involves the coupling between our assembly and the haptic system to achieve the fast exploration of a sample and also the location and shape recognition of sub-micronic objects. These experiments reflect the capacities of this coupling to directly transmit to an user the interactions at a nanometer scale and also the possibility using this interface to achieve complex tasks : manipulation on a surface, shape recognition and contour tracking.

O presente estudo teve por objetivo obter a constante de Weber da percepção de comprimento de linha através de mediação tátil (bengala) e observar diferenças perceptuais quanto à capacidade visual dos participantes e do material utilizado na confecção dos mediadores táteis. Além disso, comparamos a disposição vertical e horizontal dos estímulos para verificar a ocorrência ou não das ilusões vertical-horizontal e radial-tangencial. Para isso, aplicamos o método dos estímulos constantes e uma escala de categoria em 90 participantes subdivididos em 3 grupos de acordo com a capacidade visual: deficientes visuais, videntes vendados e videntes. Os resultados mostraram que não houve diferença estatística entre os grupos, o tipo de material e a disposição espacial dos estímulos. Quando comparamos os resultados da constante de Weber para o tato mediado com a constante para o tato ativo, encontramos diferenças estatísticas na maioria das condições experimentais, revelando que o tato mediado é menos sensível que o tato ativo. Os resultados nos levam a concluir que ocorre perda de informação no tato mediado, com importantes implicações para os deficientes visuais que dependem de instrumentos para perceberem o ambiente. / The present study aimed to estimate the Weber\'s constant in perception of line length and to verify perceptual differences regarding participants\' visual capacity and the material used in canes. Furthermore, the vertical and horizontal position of stimuli were compared to verify the occurrence of the vertical-horizontal and the radial-tangential illusions. The method of constant stimuli and a category scale were applied to 90 participants divided into 3 groups: visually impaired, blindfolded, and sighted participants. The results showed no significant differences between groups, materials, or stimuli\'s positions. We also found that the Weber\'s constant values for mediated tactual perception were significantly higher than the constant value for active tactual perception for most conditions of the experiment. We concluded that tactual mediation implies in information loss in comparison with direct tactual perception, a fact that has important implications to individuals with visual impairment who depend on tools to better perceive the environment.

Orientador: Eliane Mauerberg de Castro / Banca: Cynthia Yukiko Hiraga / Banca: Renato de Moraes / Resumo: O objetivo deste trabalho é avaliar, ao longo de uma caminhada, a contribuição do sistema háptico durante a condução de um cão em condições de desafios ao sistema postural. Os desafios nas tarefas deste estudo incluem restrição da base de suporte para a marcha e privação visual. Esperamos que a sincronização entre condutor e cão se reflita em melhores níveis de desempenho no controle da marcha, especialmente na condição onde a visão é obstruída. Para este estudo foram recrutados 10 adultos jovens, com idade de média de 23,7 ± 4,32 anos e um cão treinado em obediência básica e na tarefa de condução em superfície restrita de apoio (traves de equilíbrio). As condições de tarefas foram: com e sem restrição da visão (CVSC e SVSC, respectivamente), e com e sem condução do cão (CVCC e SVCC, respectivamente). A primeira condição foi sempre a condição controle (olhos abertos sem condução do cão). Cada tentativa foi repetida três vezes. As tarefas foram filmadas por duas câmeras com o objetivo de avaliar a duração de cada ciclo do andar. Uma ANOVA three-way com medidas repetidas em todos os fatores (visão, tarefa e repetições) foi realizada para as variáveis: duração do ciclo de cada passada, média da fase relativa e o desvio da fase relativa, com medidas também repetitivas em todos os fatores para: visão, tarefa, pernas, e repetições. Testes a posteriori de Bonferroni foram calculados para comparações aos pares. Em relação à média da fase relativa as tarefas executadas com o cão foi significativamente superior àquelas sem o uso do cão. O pior relacionamento temporal foi mantido nas médias... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The purpose of this study was to assess the contribution of the haptic system during walking with a dog on challenging tasks to the postural system. The challenges included restriction to the base support (walking on a balance beam for both, the human and the dog), and visual occlusion (for the human only). We expected that the synchronization between the walking individual and the dog reflected in improved levels of performance in motion control, especially in conditions where vision is occluded. We recruited 10 young adults with average age of 23.7 ± 4.32 years and a dog with obedience training and conditioned to walk on a restricted area of support (balance beam). The task conditions were: with and without vision (CVSC and SVSC, respectively), and with and without conducting the dog (CVCC and SVCC, respectively). The first condition was always the control condition (eyes open without conducting the dog). Each trial was repeated three times. The tasks were videotaped with two cameras in order to process the duration of each stepping cycle. A three-way ANOVA with repeated measures on all factors (vision, and task repetitions) was performed for the variables: duration of each stepping cycle, relative phase and standard deviation of the relative phase, also with repeated measures on all of the factors: vision, task conditions, legs, and trials. The mean relative phase of the tasks performed with the dog was significantly closer to symmetry than those without the use of the dog. The worst temporal relationship was maintained during the condition SVSC (right leg = 0,477 ± 0,030, left leg = 0,544 ± 0,035). However... (Complete abstract click electronic access below) / Mestre

Made available in DSpace on 2015-05-14T13:16:16Z (GMT). No. of bitstreams: 1 arquivototal.pdf: 1133764 bytes, checksum: 97cb00ace24927f692b211780e9bf51c (MD5) Previous issue date: 2013-02-21 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / Memory is a multiple system made by codification subsystems, storage and recovery of information. The rating can be done through the type of stimulus processed - visual, auditory, gustatory, olfactory or tactile. Inside the tactile memory is found the subcategory of haptic memory, responsible for the acquisition of information by the active manipulation of objects. The memory subsystems show significant drop with the healthy aging and with distinct effects in its components. It has been found few studies relating long term forgetting for the haptic memory in healthy old people. In this sense, this research had aimed to evaluate the forgetting rates of information processed by the haptic modality in different time spans for remember and recognition memories in a thirty six old people sample, both sex, no cognitive commitment and with reading and writing skills. For that purpose, it was used a specific wooden box for the presentation of the haptic stimuli. The procedure is made of two parts, one study phase (stimuli presentation) and the test phase (remember or recognition tasks), realized after intervals of one, ten or twenty minutes. The Kruskal-Wallis test for independent samples showed significant differences between the remember and recognition memory and the time spans analyzed (H = 23,17; gl = 1; p < 0,05). Is was used as post hoc the nonparametric Mann-Whitney test with Bonferroni correction, which presented significant differences between the ten minutes remember condition and ten minutes recognition condition (p < 0,083), although this differences weren't detected in the comparison of the remember and recognition tests for the interval of twenty minutes (p > 0,083). These data reveal that the type of test didn't influence in the recovery of the information after twenty minutes, indicating that the loss of the processed information by the haptic modality in old people starts to stabilize beyond this interval, independently from the evocation test. In general, results show few loss of information when it's processed haptically, suggesting that the evocation for longer time spans in this modality cannot be affected by aging. / A memória é um sistema múltiplo constituído por subsistemas de codificação, armazenamento e recuperação de informações. Sua classificação pode ser feita de acordo com o tipo de estímulo processado - visual, auditivo, gustativo, olfativo ou tátil. Dentro da memória tátil, encontra-se a submodalidade de memória háptica, referente a aquisição de informações pela manipulação ativa dos objetos. Os subsistemas da memória apresentam declínio significativo com o envelhecimento saudável, com efeitos diferenciados em seu componentes. Foram encontrados poucos estudos relacionando o esquecimento a longo prazo para a memória háptica em idosos saudáveis. Neste sentido, esta pesquisa teve por objetivo avaliar as taxas de esquecimento da informação processada na modalidade háptica em diferentes intervalos de tempo para memórias de recordação e reconhecimento em uma amostra de 36 idosos, de ambos os sexos, sem comprometimento cognitivo e com capacidade de leitura e escrita. Para isso, foi utilizada uma caixa de madeira específica para apresentação de estímulos hápticos. O procedimento consistiu em duas fases, uma fase de estudo (apresentação dos estímulos) e outra de teste (tarefas de recordação ou reconhecimento), realizada após os intervalos de 1, 10 ou 20 minutos. O teste para amostras independentes Kruskal-Wallis mostrou diferenças significantes entre a memória de recordação e reconhecimento e os intervalos de tempo analisados (H = 23,17; gl = 1; p < 0,05). Utilizou-se como post hoc o teste não paramétrico Mann-Whitney com correção Bonferroni, o qual apresentou diferenças significantes entre a condição recordação após 10 minutos e reconhecimento após 10 minutos (p < 0,0083), porém essas diferenças não foram detectadas na comparação das tarefas de recordação e reconhecimento após o intervalo de 20 minutos (p > 0,0083). Esses dados revelam que o tipo de tarefa não influenciou na recuperação da informação após 20 minutos, indicando que a perda de informações processadas na modalidade háptica em idosos começa se estabilizar a partir deste intervalo, independente da tarefa de evocação. Em resumo, os resultados mostram que ocorre pouca perda da informação quando processada hapticamente, sugerindo que a evocação para intervalos de tempo mais longos nesta modalidade podem não ser afetados pelo envelhecimento.

Esta dissertação apresenta um estudo sobre linguagens táteis em interação humanocomputador e uma nova abordagem de prefixação vibrotátil. Nós pretendemos analisar como as escolhas feitas durante o processo de concepção de vocabulários táteis afetam o desempenho do usuário em uma tarefa interativa. Por isso desenvolvemos e testamos diferentes conjuntos de sinais táteis para suporte à navegação em ambientes virtuais. Isso nos levou a esboçar o conceito de Padrão Tátil Modificador para comunicação vibrotátil que foi testado por meio de experimentos com usuários. Na avaliação dos vocabulários táteis construídos com padrões modificadores foram considerados os efeitos de estimulação multisensorial, fatores relacionados ao processamento de seqüências táteis e o mascaramento causado pela exibição de múltiplos estímulos ao mesmo tempo. Resultados mostram que os participantes que usaram vocabulários construídos com padrões modificadores obtiveram desempenho melhor na tarefa de navegação. Esse e outros resultados relacionados à percepção, aprendizagem e interpretação dos nossos vocabulários atestam a validade do uso de modificadores na construção de linguagens táteis. As conclusões extraídas deste trabalho se mostram úteis no auxílio à concepção de interfaces táteis que sejam usáveis e que demandem expressividade de seus vocabulários. / This thesis presents a study about tactile languages in human-computer interaction and a novel approach for vibrotactile prefixation. We intended to analyse how the choices made during the design process of tactile vocabularies would affect the user performance on an interactive task. Therefore, we have designed and tested different sets of tactile signals for aid navigation in virtual environments. It leaded us to fashion the concept of Modifier Tactile Pattern for vibrotactile communication which was tested through user experiments. In the assessment of the modifier-based vocabularies we attempted to effects of multisensory stimulation, factors related to the processing of tactile sequences and masking caused by multiple stimuli delivered in a same time. Results show that those participants who used modifier-based vocabularies performed better the navigation task. That and others results related to perception, learning and interpretation of our tactile vocabularies show the validity of the use of modifiers on tactile languages. The statements made from this work will be useful for designing usable tactile interfaces that demand expressive vocabularies.

Simulação computacional de ambientes cirúrgicos têm sido amplamente utilizados, normalmente para treinamentos, ajudando no desenvolvimento de habilidades essenciais e minimizando erros em procedimentos cirúrgicos. Para estes ambientes, é essencial a obtenção de um comportamento mais realista, sendo importante o uso de técnicas com alta precisão, além de uma simulação em tempo real. A fim de melhor controlar este trade-off entre eficiência e eficácia, apresentamos um ambiente híbrido e adaptativo que combina um conjunto de métodos para alcançar uma boa precisão e desempenho na simulação. Nosso sistema mescla métodos físicos de deformação (Método de Elementos Finitos e Mass-Mola) com um método não-físico que aproxima o comportamento dos primeiros (Green Coordinates), sendo capaz de utilizar o método apropriado dependendo da situação. Para melhor simular um ambiente cirúrgico completo, foram implementadas ferramentas adicionais para interação, permitindo pegar e manipular, queimar, e sentir os objetos do cenário. Nosso sistema proporciona grande imersão ao usuário, consumindo menos recursos computacionais e aumentando as taxas de atualização da simulação. / Computational simulation of surgical environments have been widely used usually for trainings, improving essential skills and minimizing errors in surgical procedures. As these environments are always looking for a more realistic behavior, it is important to use high-precision techniques while ensuring a real-time simulation. In order to better manage this trade-off between efficiency and effectiveness, we present a hybrid and adaptive environment that combines a set of methods to achieve good accuracy and performance for a simulation. Our system merges physically deformation methods (Finite Elements Method and Mass Spring Damper) with a non-physical method that approximates the formers behavior (Green Coordinates), being able to use the appropriate method depending on the situation. To simulate an approximation of a complete surgical environment, we also implement interaction tools, such as picking, burning, and haptic feedback. Our system provides great immersion for the user, consuming less computational resources and increasing update rates.