Using Registration, Calibration and Robotics Virtual Reality Simulation Astronautics Telemedicine
<p>Jul 09, 2012 10:32 PM
 
accurate registr, calibr and robotic integration helped bld a fnd for useable simulation.
 
from NASA Ames;
 
surigcal simulation improves MD performance and training.
 
useful where practice  is difficult in OR, in remote locations or in microgravity.
 
(from a confer in Czech Repub)
 
many groups have developed simulators;
 
uses SPRING devel by Stfd/NASA Natl Biocomp Center and open sourced.
 
Object registration - accurately mapping object position in real world space to virtual space
is an important aspect contributing to the sims usability.
poor registr detracts from the sim and can be sdistrubing enuf to cause motion sickness (Pausch 92)
(bob note:  they list the citation as Pauch 92... wrong!.. its Randy Pausch);
 
bad regis. leads to negative training of motor skills and counterprod training.
 
Also, registration plays a key role in extending a virtual environment beyond just simulation to actual real world interax thru robotics.
 
a robot must relate to specific position in a virtual world f its fgoing to interact with the two;
 
with this functionality, SPRING cud monitor the users hands and allow the user to pick up a vial or scalpel in the real world and virtual world simultaneouly;
 
As the user sweeps a hand across an enviro or a body, the distance andposition feels liek the real world.
 
Augmented reality systems currently use cameras to monitor position and dispaly real world objects.
 
Registration delay can be separated into statis delay assoc with the hardware and setup and dynamic
dealy assoc with running the sim.
 
The dynamic dealy related to latency of response contribs the most to this error
 
 
robotics goes hand in hand with experiment simulation and improvements thru registration.
 
2)  Registration Clibration and Teleoperation for Hands
 
The hand is a natural mode of human interface;
 
we chose use of hand a a major tool to focus on user immersion;
 
finely tuned manipulation increases functionality in tasks like opening vials and it furthers realism
and immersion.
 
adapting a different users hands  (difft hand sizes;
 
this creates the need for a calibration routine that each user can perform prior to using
the glove.  must coordinate gain and offset movements of each sensor.
 
accurate regis and calibration allow the user to interact with the VR and also the real world thru telrobotics.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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