HapticWhirl, a Flywheel-Gimbal Handheld Haptic Controller for Exploring Multimodal Haptic Feedback.

Most haptic actuators available on the market today can generate only a single modality of stimuli. This ultimately limits the capacity of a kinaesthetic haptic controller to deliver more expressive feedback, requiring a haptic controller to integrate multiple actuators to generate complex haptic stimuli, with a corresponding complexity of construction and control. To address this, we designed a haptic controller to deliver several modalities of kinaesthetic haptic feedback using a single actuator: a flywheel, the orientation of which is controlled by two gimbals capable of rotating over 360 degrees, in combination with a flywheel brake. This enables the controller to generate multiple haptic feedback modalities, such as torque feedback, impact simulation, low-frequency high-amplitude vibrations, inertial effects (the sensation of momentum), and complex haptic output effects such as the experience of vortex-like forces (whirl effects). By combining these diverse haptic effects, the controller enriches the haptic dimension of VR environments. This paper presents the device's design, implementation, and characterization, and proposes potential applications for future work.

The effects of temperature on cardiac pacing thresholds.

BACKGROUND: Human core body temperature can fluctuate between 36 degrees C (sleep) and 42 degrees C (intense exercise). Also, efforts are underway to develop implantable pacing systems that minimize heating during magnetic resonance imaging (MRI) scans (i.e., MRI safe). Concerns exist that ventricular pacing capture thresholds (VPCT) are modified by changing cardiac temperatures. This project was designed to assess the effects of temperature on VPCT of the mammalian heart. METHODS: Fresh ventricular specimens were obtained from healthy canine, healthy swine, and diseased human hearts. Isolated trabeculae were suspended in temperature-controlled tissue baths containing oxygenated Krebs buffer. Small active fixation pacing leads delivered pacing pulses to each specimen. Baseline strength-duration curves were determined at 37 degrees C, then at randomized temperatures ranging from 35 degrees C to 42 degrees C. Final thresholds were repeated at 37 degrees C to confirm baseline responses. All threshold data were normalized to a baseline average. RESULTS: Both canine and swine trabeculae elicited significant decreases in thresholds (10-14%) at pacing stimulus durations (pulsewidths) of 0.02 ms (P < 0.01) and 0.10 ms (P < 0.05) between the temperatures of 38 degrees C and 41 degrees C, compared to baseline. Thresholds at 42 degrees C trended back to baseline for both canine (NS) and swine trabeculae (P < 0.05 compared to 38 degrees C-41 degrees C). Human trabeculae thresholds increased >35% (P < 0.05) at 42 degrees C relative to baseline with no significant differences at other temperatures. CONCLUSIONS: Temperature is a significant factor on pacing thresholds for mammalian ventricular myocardium. Our data for the diseased human trabeculae indicate that cases where cardiac heating may occur (e.g., radiofrequency energy due to MRI scans, febrile events), patients without adequate VPCT safety margin may be at higher risk of loss of proper function of an implanted pacing or defibrillation system.

High capacity implantable data recorders: system design and experience in canines and Denning black bears.

BACKGROUND: Implantable medical devices have increasingly large capacities for storing patient data as a diagnostic aid and to allow patient monitoring. Although these devices can store a significant amount of data, an increased ability for data storage was required for chronic monitoring in recent physiological studies. METHOD OF APPROACH: Novel high capacity implantable data recorders were designed for use in advanced physiological studies of canines and free-ranging black bears. These hermitically sealed titanium encased recorders were chronically implanted and programmed to record intrabody broadband electrical activity to monitor electrocardiograms and electromyograms, and single-axis acceleration to document relative activities. RESULTS: Changes in cardiac T-wave morphology were characterized in the canines over a 6 month period, providing new physiological data for the design of algorithms and filtering schemes that could be employed to avoid inappropriate implantable defibrillator shocks. Unique characteristics of bear hibernation physiology were successfully identified in the black bears, including: heart rate, respiratory rate, gross body movement, and shiver An unanticipated high rejection rate of these devices occurred in the bears, with five of six being externalized during the overwintering period, including two devices implanted in the peritoneal cavity. CONCLUSIONS: High capacity implantable data recorders were designed and utilized for the collection of long-term physiological data in both laboratory and extreme field environments. The devices described were programmable to accommodate the diverse research protocols. Additionally, we have described substantial differences in the response of two species to a common device. Variations in the foreign body response of different mammals must be identified and taken into consideration when choosing tissue-contacting materials in the application of biomedical technology to physiologic research.