@inproceedings{HoecherlAdamSchlegletal., author = {H{\"o}cherl, Johannes and Adam, Andreas and Schlegl, Thomas and Wrede, Britta}, title = {Human-Robot Assembly: Methodical Design and Assessment of an Immersive Virtual Environment for Real-World Significance}, series = {2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): 8-11 Sept. 2020, Vienna, Austria}, booktitle = {2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): 8-11 Sept. 2020, Vienna, Austria}, publisher = {IEEE}, doi = {10.1109/ETFA46521.2020.9212039}, pages = {549 -- 556}, abstract = {Virtual reality is a powerful tool for industrial applications. The article at hand addresses designers of industrial virtual environments. It summarizes key aspects to design immersive and coherent virtual environments. Furthermore, relevant influencing factors for a high quality virtual environment and tools to quantify this quality are presented. So far, a methodology to design, evaluate, and transfer knowledge from virtual environments into reality has been missing and is of high value for industrial applications. The proposed methodical approach includes the steps application analysis, technology selection and integration, design of virtual environment, evaluation of simulator quality, as well as discussion of the real-world validity. The method is shown on the example of a virtual human-robot working cell used to analyze the human perception of robot behavior during mutual assembly processes. The quality of the virtual environment is evaluated to be adequate for those purposes and the transfer of knowledge gained in virtuality on a corresponding real-world application is discussed. To the best of our knowing a system like the presented one, including full-body tracking, finger tracking, a virtual avatar and a head-mounted display has not been used for industrial use cases and human-robot cooperation before.}, language = {en} } @article{MaierPerretSimonetal., author = {Maier, Johannes and Perret, Jerome and Simon, Martina and Schmitt-R{\"u}th, Stephanie and Wittenberg, Thomas and Palm, Christoph}, title = {Force-feedback assisted and virtual fixtures based K-wire drilling simulation}, series = {Computers in Biology and Medicine}, volume = {114}, journal = {Computers in Biology and Medicine}, publisher = {Elsevier}, doi = {10.1016/j.compbiomed.2019.103473}, pages = {1 -- 10}, abstract = {One common method to fix fractures of the human hand after an accident is an osteosynthesis with Kirschner wires (K-wires) to stabilize the bone fragments. The insertion of K-wires is a delicate minimally invasive surgery, because surgeons operate almost without a sight. Since realistic training methods are time consuming, costly and insufficient, a virtual-reality (VR) based training system for the placement of K-wires was developed. As part of this, the current work deals with the real-time bone drilling simulation using a haptic force-feedback device. To simulate the drilling, we introduce a virtual fixture based force-feedback drilling approach. By decomposition of the drilling task into individual phases, each phase can be handled individually to perfectly control the drilling procedure. We report about the related finite state machine (FSM), describe the haptic feedback of each state and explain, how to avoid jerking of the haptic force-feedback during state transition. The usage of the virtual fixture approach results in a good haptic performance and a stable drilling behavior. This was confirmed by 26 expert surgeons, who evaluated the virtual drilling on the simulator and rated it as very realistic. To make the system even more convincing, we determined real drilling feed rates through experimental pig bone drilling and transferred them to our system. Due to a constant simulation thread we can guarantee a precise drilling motion. Virtual fixtures based force-feedback calculation is able to simulate force-feedback assisted bone drilling with high quality and, thus, will have a great potential in developing medical applications.}, subject = {Handchirurgie}, language = {en} }