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One-Dimensional Haptic Rendering Using Audio Speaker with Displacement Determined by Inductance

Khera, Avin and Lee, Randy and Marcovici, Avi and Yu, Zhixuan and Klatzky, Roberta and Siegel, Mel and Shroff, Sanjeev and Stetten, George (2016) One-Dimensional Haptic Rendering Using Audio Speaker with Displacement Determined by Inductance. Machines, 4 (1). ISSN 2075-1702

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We report overall design considerations and preliminary results for a new haptic rendering device based on an audio loudspeaker. Our application models tissue properties during microsurgery. For example, the device could respond to the tip of a tool by simulating a particular tissue, displaying a desired compressibility and viscosity, giving way as the tissue is disrupted, or exhibiting independent motion, such as that caused by pulsations in blood pressure. Although limited to one degree of freedom and with a relatively small range of displacement compared to other available haptic rendering devices, our design exhibits high bandwidth, low friction, low hysteresis, and low mass. These features are consistent with modeling interactions with delicate tissues during microsurgery. In addition, our haptic rendering device is designed to be simple and inexpensive to manufacture, in part through an innovative method of measuring displacement by existing variations in the speaker’s inductance as the voice coil moves over the permanent magnet. Low latency and jitter are achieved by running the real-time simulation models on a dedicated microprocessor, while maintaining bidirectional communication with a standard laptop computer for user controls and data logging.


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Item Type: Article
Status: Published
CreatorsEmailPitt UsernameORCID
Khera, Avin
Lee, Randy
Marcovici, Avi
Yu, Zhixuan
Klatzky, Roberta
Siegel, Mel
Shroff, Sanjeevsshroff@pitt.edusshroff
Stetten, Georgestetten@pitt.edustetten
Date: 21 March 2016
Date Type: Publication
Journal or Publication Title: Machines
Volume: 4
Number: 1
Publisher: MDPI AG
DOI or Unique Handle: 10.3390/machines4010009
Schools and Programs: Swanson School of Engineering > Bioengineering
Refereed: Yes
Uncontrolled Keywords: haptics, loudspeaker, speaker, inductance, displacement, surgery, microsurgery
ISSN: 2075-1702
Official URL:
Funders: NIH, NSF, Research to Prevent Blindness, Coulter Foundation, Gerald McGinnis Fellowship
Article Type: Research Article
Date Deposited: 11 Feb 2021 20:29
Last Modified: 11 Feb 2021 20:29


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