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dc.contributor.authorForbrigger, Shane
dc.date.accessioned2017-06-27T12:56:26Z
dc.date.available2017-06-27T12:56:26Z
dc.identifier.urihttp://hdl.handle.net/10222/72982
dc.description.abstractVirtual surgical training simulators are an exciting opportunity to improve surgical training, especially in challenging fields like minimally invasive surgery. Virtual surgical training requires highly accurate haptic feedback to provide effective training, however, accurate human tissue models are computationally intensive and update too slowly. This work investigates a method of improving the haptic feedback realism (or transparency) from slowly updating virtual environments by designing a control structure that takes advantage of higher update rates outside of the virtual environment. The current state of the art in surgical training and controls research is identified through a review of the relevant literature. The contributions of this work are as follows. A predictor is designed for an unknown linear-time invariant system using Lyapunov-based methods to provide an estimate of the ideal virtual environment output at a higher output rate. The predictor design is extended to a gain-scheduled predictor using linear parameter-varying systems analysis. The resulting haptic system is tested both in simulation and experiment. For linear-time invariant systems the predictor provides excellent performance, leading to experimental improvements in transparency of up to 40%. For nonlinear systems the predictor provides mixed results, ranging from negligible results to improvements of approximately 20%.en_US
dc.language.isoenen_US
dc.subjectHapticsen_US
dc.subjectPrediction methodsen_US
dc.subjectLinear parameter-varying systemsen_US
dc.subjectVirtual realityen_US
dc.subjectNonlinear controlen_US
dc.subjectTransparencyen_US
dc.subjectSurgical trainingen_US
dc.titlePrediction-Based Haptic Interfaces to Improve Transparency for Complex Virtual Environmentsen_US
dc.date.defence2017-06-20
dc.contributor.departmentDepartment of Mechanical Engineeringen_US
dc.contributor.degreeMaster of Applied Scienceen_US
dc.contributor.external-examinern/aen_US
dc.contributor.graduate-coordinatorDominic Groulxen_US
dc.contributor.thesis-readerGuy Kemberen_US
dc.contributor.thesis-readerRobert Baueren_US
dc.contributor.thesis-supervisorYa-Jun Panen_US
dc.contributor.thesis-supervisorJames Ellsmereen_US
dc.contributor.ethics-approvalNot Applicableen_US
dc.contributor.manuscriptsNot Applicableen_US
dc.contributor.copyright-releaseNot Applicableen_US
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