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M. Sc. Hosam Alagi

Wissenschaftlicher Mitarbeiter
Gruppe: Intelligente Industrieroboter (IIROB)
Raum: 004.1
Tel.: +49 721 608-47118
Fax: +49 721 608-47141
hosam alagiSja3∂kit edu


Projekte
Titel Förderung Starttermin Endtermin Ansprechpartner

BMWi

01.02.2017

31.01.2020 

DFG

September 2014

Februar 2018



Publikationen


Flexible Spatial Resolution for Preshaping with a Modular Capacitive Tactile Proximity Sensor.
Escaida Navarro, S.; Alagi, H.; Heilig, A.; Mende, M.; Hein, B.
2016. IROS 2016 : 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems : October 9-14, 2016, Daejeon Convention Center, Daejeon, Korea, 3-5, IEEE, Danvers
A versatile and modular capacitive tactile proximity sensor.
Alagi, H.; Navarro, S. E.; Mende, M.; Hein, B.
2016. 24th IEEE Haptics Symposium 2016, HAPTICS 2016; Philadelphia; United States; 8 April 2016 through 11 April 2016. Ed.: S. Choi, 290-296, IEEE Computer Society, Los Almitos (CA). doi:10.1109/HAPTICS.2016.7463192
Prototype of a Haptic Display for the Evaluation of Sensible Haptic Feedback in Remote Palpation.
Hergenhan, J.; Uhl, M.; Alagi, H.; Schirren, R.; Reiser, R.; Wörn, H.
2014. IEEE International Symposium on Medical Measurements and Applications (MeMeA), Article no 68600135, IEEE, Piscataway, NJ. doi:10.1109/MeMeA.2014.6860135
Biomimetic tactile sensor based on Fiber Bragg Gratings for tumor detection - Prototype and results.
Ledermann, C.; Alagi, H.; Woern, H.; Schirren, R.; Reiser, S.
2014. IEEE International Symposium on Medical Measurements and Applications (MeMeA'14), Lisbon, Portugal, June 11-12, 2014, 1-6, IEEE, Piscataway (NJ). doi:10.1109/MeMeA.2014.6860086
Vermessung eines haptischen Phantoms als Basis für die Entwicklung eines taktilen Sensors = Measurement of a haptic phantom as basis for the development of a tactile sensor.
Hergenhan, J.; Schirren, R.; Alagi, H.; Feussner, H.; Reiser, S.; Wörn, H.
2013. Tagungsband der 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie - CURAC 2013; Innsbruck; Austria; 28 - 30 November 2013. Ed.: B. Preim, 17-20, RWTH, Aachen
Tactile proximity sensors for robotic applications.
Geoger, D.; Alagi, H.; Wörn, H.
2013. IEEE International Conference on Industrial Technology (ICIT), Cape Town, South Africa, 25-28 Feb. 2013, 978 - 983, IEEE, Piscataway (NJ). doi:10.1109/ICIT.2013.6505804

Prototype of a Haptic Display for the Evaluation of Sensible Haptic Feedback in Remote Palpation

AutorJ. Hergenhan, M. Uhl, H. Alagi, R. Schirren, R. Reiser, H. Wörn
Jahr2014
Veröffentlicht inIEEE International Symposium on Medical Measurements and Applications (MeMeA)
KurzfassungRobot-assisted minimally invasive surgery generally forbids an important diagnostic tool in medicine: palpation. There are various approaches to re-establish the haptic feedback for the surgeon, including tactile displays and haptic input devices. We present a novel haptic display that features seven pins mounted on compression springs that can be pre-loaded with servo motors. The pins have a stroke of 10mm with a maximum counterforce of 7N altogether. An additional force of 0.7N per pin can be applied with the motors. This technique allows for simultaneous stimulation of kinesthetic as well as tactile perception. Prior to development and construction, measurements with a haptic phantom (a silicone body with wooden balls included) were carried out in order to determine the parameters for the device. The measurements with the functional prototype show good reproducibility. Generally, the device works as intended and, where it does not, we could identify the sources of errors. The optimizations will flow into the construction of the complete setup. With the seven-pin setup we aim to reproduce the force profiles found in the phantom measurements and further examine the sensible simulation of tumorous soft tissue.
Bibtex@inproceedings{ ipr_1170857499, author = "{J. Hergenhan and M. Uhl and H. Alagi and R. Schirren and R. Reiser and H. W{{\"o}}rn}", title = "{Prototype of a Haptic Display for the Evaluation of Sensible Haptic Feedback in Remote Palpation}", year = "2014", booktitle = "{IEEE International Symposium on Medical Measurements and Applications (MeMeA)}", pages = "610--615", }
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