1. Virtual Reality Interface in MATLAB/Simulink for mechatronic interface D. Todorović, M. Božić, V. Zerbe, and G. S. Đor đ ević

2. Overview Introduction Telepresence 2 d.o.f. joystick design Force feedback and tactile sensation Virtual reality toolbox Forces and information flow Conclusion

3. Motivation Modern video and audio processing is rapidly developing. Unable to understand meaning of interaction Telepresence is necessary to use maximum from present technology

4. Telepresence Teleconferencing The most important use in robotic telemedicine On the same site (few meters away) On remote site Two way information flow (position, speed, force, image, voice…) To improve robotic surgery haptic enabled interface is necessary.

5. 2 d.o.f. joystick Paralelogram mechanism 2 perpendicular axis ◦ Humusoft MF624 interface PC card ◦ 2 DC motor drivers 2 axis force sensors Low cost development Modeling and integration in Matlab/Simulink ◦ Virtual reality toolbox ◦ Testing and iterative design

6. Mechanical design

7. Force feedback and tactile sensation Crucial for improvements in robotic surgery Two main components of such system ◦ Sensorized surgical instrument (endoscope with force sensors on its tip) ◦ Force-reflective human machine interface that mediates between surgeon and the robot. Problems in communication, mechanical design and control algorithms ◦ Can be solved in simulated environment, and then implemented and tested.

8. Virtual reality world in VR toolbox Physical models of objects being controlled. Virtual world simulation (gravity, friction, viscosity…) Simulink 3D animation product ◦ Virtual worlds ◦ Animation ◦ Manipulation ◦ Interaction

9. Forces and information flow

10. Taxonomy of VR interface Robotized application require training Evaluation against taxonomy of tasks ◦ Moving an object in VR with only visual feedback ◦ Moving an object in VR with haptics turned on ◦ Examination of trial-by-trial performance.

11. Conclusion Virtual reality enabled mechatronic system for haptic research. Future research includes: ◦ Evaluation of different haptics (force reflection) algorithms ◦ Does the haptics algorithm improve the process of motor learning? ◦ Can this help during the training period?

12. Thank you. Any questions?