Methods and apparatus for Palpation Simulation
First Claim
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1. An apparatus, comprising:
- a manipulandum;
a housing having a palpation region, the palpation region of the housing being spaced apart from the manipulandum;
a sensor coupled to the palpation region of the housing, the sensor configured to send a signal based on a palpation of the palpation region of the housing; and
an actuator coupled to the manipulandum, the actuator configured to send haptic output to the manipulandum based on the signal.
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Abstract
An apparatus comprises a manipulandum, a housing, a sensor and an actuator. The housing has a palpation region spaced apart from the manipulandum. The sensor is coupled to the palpation region of the housing. The sensor is configured to send a signal based on a palpation of the palpation region of the housing. The actuator is coupled to the manipulandum. The actuator is configured to send haptic output to the manipulandum based on the signal.
37 Citations
23 Claims
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1. An apparatus, comprising:
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a manipulandum;
a housing having a palpation region, the palpation region of the housing being spaced apart from the manipulandum;
a sensor coupled to the palpation region of the housing, the sensor configured to send a signal based on a palpation of the palpation region of the housing; and
an actuator coupled to the manipulandum, the actuator configured to send haptic output to the manipulandum based on the signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus, comprising:
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a housing having a palpation region and an interface region different from the palpation region;
a manipulandum having a first portion and a second portion, the first portion of the manipulandum coupled to the interface region of the housing, the second portion of the manipulandum being spaced apart from the palpation region of the housing and being moveable such that a force is translated to the palpation region of the housing when the manipulandum is moved; and
an actuator coupled to the manipulandum, the actuator configured to send haptic output to the manipulandum. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method, comprising:
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receiving a first signal associated with a position of a manipulandum disposed within an interface region of a housing, the housing having a palpation region different from the interface region;
receiving a second signal associated with a palpation of the palpation region of the housing; and
sending a third signal to an actuator coupled to the manipulandum based on the first signal and the second signal, the actuator configured to send a haptic force to the manipulandum based on the third signal. - View Dependent Claims (18, 19, 20)
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21. An apparatus, comprising:
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a housing having a first region and a second region spaced apart from the first region;
a sensor coupled to the second region, the sensor configured to send a signal based on a palpation of the first region of the housing; and
an actuator coupled to the second region, the actuator configured to send haptic output to the second region of the housing based on the signal. - View Dependent Claims (22, 23)
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Specification