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  • 1.
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Simulator för operativ extraktion av visdomständer2008Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [sv]

    Tandläkarutbildningen i Sverige innefattar teori för oral kirurgi, men tyvärr ingen praktik på grund av begränsade resurser. Syftet med detta examensarbete var att utveckla, genom en användarcentrerad utvecklingsmetod, en simulator som ska ge studenter ökad färdighet i operativ extraktion av visdomständer, innan de övar på patienter. Kontextuellt motiverade krav formulerades baserade på resultat av intervjuer med kirurger och observationer av operationer. Kärnkomponenten i simulator-prototypen var förmågan att känna strukturen av käken och vibrationer vid borrning. Detta möjliggjordes genom utnyttjande av haptisk teknik, speciellt användes en Phantom 3-DOF haptikenhet. Olika algoritmer för kraftberäkning av borr-ben-interaktion studerades och en volymbaserad algoritm implementerades. Den datortomograf- genererade 3d-bild som användes för haptisk återkoppling volymrenderades också grafisk i realtid tillsammans med en triangelmängd av en huvudmodell. Resultaten av den kooperativa utvärderingen av prototypen med kirurger visade att träning med virtuell käkborrning var möjligt, även om funktioner som behöver designas om även hittades. Den implicita kunskapen, genom syn, hörsel och känsel som kirurger litar till var också uppdagad.

  • 2.
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Media Technology and Interaction Design, MID.
    Reflective Spatial Haptic Interaction Design Approaching a Designerly Understanding of Spatial Haptics2013Licentiate thesis, comprehensive summary (Other academic)
    Abstract [en]

    With a spatial haptic interface device and a suitable haptic rendering algorithm, users can explore and modify virtual geometries in three dimensions with the aid of their haptic (touch) sense. Designers of surgery simulators, anatomy exploration tools and applications that involve assembly of complex objects should consider employing this technology. However, in order to know how the technology behaves as a design material, the designer needs to become well acquainted with its material properties. This presents a significant challenge today, since the haptic devices are presented as black boxes, and implementation of advanced rendering algorithms represent highly specialized and time consuming development activities. In addition, it is difficult to imagine what an interface will feel like until it has been fully implemented, and important design trade-offs such as the virtual object's size and stability gets neglected.

    Traditional user-centered design can be interpreted as that the purpose of the field study phase is to generate a set of specifications for an interface, and only solutions that cover these specifications will be considered in the design phase. The designer might miss opportunities to create solutions that uses e.g. lower cost devices since that might require reinterpretation of the overarching goal of the situation with starting point in the technical possibilities, which is unlikely without significant material knowledge. As an example, a surgery simulator designed in this thesis required a high cost haptic device to render adequate forces on the scale of human teeth, but if the design goal is reinterpreted as creating a tool for learning anatomical differences and surgical steps, an application more suitable for the lower cost haptic devices could be crafted. This solution is as much informed by the haptic material "speaking back to" the designer as by field studies.

    This licentiate thesis will approach a perspective of spatial haptic interface design that is grounded in contemporary design theory. These theories emphasizes the role of the designer, who is not seen as an objective actor but as someone who has a desire to transform a situation into a preferred one as a service to a client or greater society. It also emphasizes the need for crafting skills in order to innovate, i.e. make designed objects real. Further, it considers aesthetic aspects of a design, which includes the subtle differences in friction as you move the device handle, and overall attractiveness of the device and system.

    The thesis will cover a number of design cases which will be related to design theory and reflected upon. Particular focus will be placed on the most common class of haptic devices which can give force feedback in three dimensions and give input in six (position and orientation). Forces will be computed and objects deformed by an volume sampling algorithm which will be discussed. Important design properties such as stiffness, have been identified and exposed as a material for design. A tool for tuning these properties interactively has been developed to assist designers to become acquainted with the spatial haptic material and to craft the material for a particular user experience.

    Looking forward, the thesis suggests the future work of making spatial haptic interfaces more design ready, both in software and hardware. This is proposed to be accomplished through development of toolkits for innovation which encapsulate complexities and exposes design parameters. A particular focus will be placed on enabling crafting with the haptic material whose natural limitations should be seen as suggestions rather than hinders for creating valuable solutions.

  • 3.
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Media Technology and Interaction Design, MID.
    Three Themes of User Experiencein Haptic Application Design2012Manuscript (preprint) (Other academic)
    Abstract [en]

    User experience theory have the potential of improvinghaptic design. Reections from applying haptics inmedical applications will be reported and related to theorygrouped by identied themes. The potential of knowledgecreation in light of these themes will be argued for.

  • 4.
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Media Technology and Interaction Design, MID.
    Preparing Spatial Haptics for Interaction Design2016Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    Spatial haptics is a fascinating technology with which users can explore and modify3D computer graphics objects with the sense of touch, but its application potentialis often misunderstood. For a large group of application designers it is still unknown,and those who are aware of it often have either too high expectations of what is technicallyachievable or believe it is too complicated to consider at all. In addition, spatialhaptics is in its current form ill-suited to interaction design. This is partly because theproperties and use qualities cannot be experienced in an application prototype until asystem is fully implemented, which takes too much effort to be practical in most designsettings. In order to find a good match between a solution and a framing of aproblem, the designer needs to be able to mould/shape/form the technology into a solution,but also to re-frame the problem and question initial conceptual designs as shelearns more about what the technology affords. Both of these activities require a goodunderstanding of the design opportunities of this technology.

    In this thesis I present a new way of working with spatial haptic interaction design.Studying the serially linked mechanism from a well-known haptic device, and a forcereflectingcarving algorithm in particular, I show how to turn these technologies froman esoteric engineering form into a form ready for interaction design. The work isgrounded in a real application: an oral surgery simulator named Kobra that has beendeveloped over the course of seven years within our research group. Its design hasgone through an evolutionary process with iterative design and hundreds of encounterswith the audience; surgeon-teachers as users and potential customers. Some ideas, e.g.gestalting authentic patient cases, have as a result received increased attention by thedesign team, while other ideas, e.g. automatic assessment, have faded away.

    Simulation is an idea that leads to ideals of realism; that e.g. simulated instrumentsshould behave as in reality, e.g. a simulated dental instrument for prying teeth is expectedto behave according to the laws of physics and give force and torque feedback.If it does not, it is a bad simulation. In the present work it is shown how some of therealism ideal is unnecessary for creating meaningful learning applications and can actuallyeven be counter-productive, since it may limit the exploration of creative designsolutions. This result is a shift in perspective from working towards constantly improvingtechnological components, to finding and making use of the qualities of modern,but not necessarily absolute cutting-edge, haptic technology.

    To be able to work creatively with a haptic system as a design resource we needto learn its material qualities and how - through changing essential properties - meaningfulexperiential qualities can be modulated and tuned. This requires novel tools andworkflows that enable designers to explore the creative design space, create interactionsketches and tune the design to cater for the user experience. In essence, this thesisshows how one instance of spatial haptics can be turned from an esoteric technologyinto a design material, and how that can be used, and formed, with novel tools throughthe interaction design of a purposeful product in the domain of dental education.

  • 5.
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Simulator for Operative Extraction of Wisdom Teeth2008In: SIGRAD 2008. The Annual SIGRAD Conference Special Theme: Interaction, Linköping, Sweden: Linköping University Electronic Press, 2008, 23-24 p.Conference paper (Refereed)
    Abstract [en]

    Hands-on practical experience in oral surgery is highly requested by dental students and faculty. For the purpose of training, a haptic enabled simulator for surgical extraction of wisdom teeth was designed. A prototype was implemented and evaluated with surgeons from Karolinska Institute as part of a user centered design approach.

  • 6.
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
     Is realism the most important property of a visuo-haptic surgery simulator2011Conference paper (Refereed)
  • 7.
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Design and Engineering of new simulations for risk-free surgery training2010Conference paper (Refereed)
  • 8.
    Forsslund, Jonas
    et al.
    Stanford University.
    Chan, Sonny
    Stanford University.
    Salisbury, Ken J.
    Stanford University.
    Silva, Rebeka G
    Girod, Sabine
    Stanford University.
    Blevins, Nikolas H
    Stanford University.
    Design and implementation of a maxillofacial surgery rehearsal environment with haptic interaction for bone fragment and plate alignment2012In: Proceedings of Computer Assisted Radiology and Surgery, 2012, Vol. 184Conference paper (Refereed)
  • 9.
    Forsslund, Jonas
    et al.
    Stanford University.
    Chan, Sonny
    Stanford University.
    Selesnick, Joshua
    Stanford University.
    Salisbury, Kenneth
    Stanford University.
    Silva, Rebeka G
    Blevins, Nikolas H
    Stanford University.
    The effect of haptic degrees of freedom on task performance in virtual surgical environments2013In: Studies in Health Technology and Informatics, ISSN 0926-9630, E-ISSN 1879-8365, Vol. 184, 129-135 p.Article in journal (Refereed)
    Abstract [en]

    Force and touch feedback, or haptics, can play a significant role in the realism of virtual reality surgical simulation. While it is accepted that simulators providing haptic feedback often outperform those that do not, little is known about the degree of haptic fidelity required to achieve simulation objectives. This article evaluates the effect that employing haptic rendering with different degrees of freedom (DOF) has on task performance in a virtual environment. Results show that 6-DOF haptic rendering significantly improves task performance over 3-DOF haptic rendering, even if computed torques are not displayed to the user. No significant difference could be observed between under-actuated (force only) and fully-actuated 6-DOF feedback in two surgically-motivated tasks.

  • 10.
    Forsslund, Jonas
    et al.
    Forsslund Systems AB.
    Flodin, Martin
    Forsslund Systems AB.
    Sallnäs Pysander, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Lund, Bodil
    Division of Clinical Bacteriology, Huddinge University Hospital, Karolinska Institutet, Stockholm, Sweden.
    Zary, Nabil
    Dept of Learning, Informatics, Management and Ethics, Karolinska Institutet, Stockholm, Sweden.
    Rosén, Annika
    Dept of Odontology, Division of Maxillofacial Surgery, Karolinska Insitutet, Huddinge.
    Adapted and applied simulation for wisdom tooth surgery training2009Conference paper (Refereed)
  • 11.
    Forsslund, Jonas
    et al.
    KTH, School of Computer Science and Communication (CSC), Media technology and interaction design, MID.
    Ioannou, I.
    Tangible sketching of interactive haptic materials2012In: Proceedings of the 6th International Conference on Tangible, Embedded and Embodied Interaction, TEI 2012, Association for Computing Machinery (ACM), 2012, 111-114 p.Conference paper (Refereed)
    Abstract [en]

    The activity of sketching can be highly beneficial when applied to the design of haptic material interaction. To illustrate this approach we created a design tool with a tangible hardware interface to facilitate the act of haptic material sketching and used this tool to design an anatomy exploration application. We found this approach particularly efficient in designing non-visual properties of haptic materials. The design tool enabled instant tactile perception of changes in material properties combined with the ability to make on the fly adjustments, thus creating a sense of pliability.

  • 12.
    Forsslund, Jonas
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Lund, Bodil
    Division of Clinical Bacteriology, Huddinge University Hospital, Karolinska Institutet, Stockholm, Sweden.
    Sallnäs Pysander, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Rosén, Annika
    Dept of Odontology, Division of Maxillofacial Surgery, Karolinska Insitutet, Huddinge.
    Towards an Oral Surgery Simulator2008Conference paper (Refereed)
  • 13.
    Forsslund, Jonas
    et al.
    KTH Royal Institute of Technology.
    Sallnäs Pysander, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC).
    Fernaeus, Ylva
    KTH, School of Computer Science and Communication (CSC).
    Designing the Kobra Oral Surgery SimulatorUsing a Practice-Based Understanding of Educational ContextsManuscript (preprint) (Other academic)
    Abstract [en]

    Surgery simulation is a core application area of computer haptics and simulation technologies, giving aspiring surgeons theopportunity to practice hands-on using complex manual actions before encountering real patients. The design of the haptic feedback isan important aspect of developing such tools, but the design of a surgery simulator involves also many other aspects. This paperpresents a long-term case of designing and iteratively developing an oral surgery simulator named Kobra. Based on feedback fromsurgeons, students and curriculum developers, as well as through insights from actual design work, particular aspects of the designthat support learning have been identified and articulated. Based on experience of designing simulator exercises originating fromauthentic patient cases it is shown how simulation techniques can be appropriated to support oral surgery teaching, through targetedinteraction design. The study highlights important aspects to consider for further design work in this domain, i.e. the value of realismand surgical relevance, the social setting of teaching surgery, content authenticity, and the physical qualities of the simulator.

  • 14.
    Forsslund, Jonas
    et al.
    KTH Royal Institute of Technology.
    Sallnäs Pysander, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC).
    Fernaeus, Ylva
    KTH, School of Computer Science and Communication (CSC).
    Designing the Experience of Visuohaptic CarvingManuscript (preprint) (Other academic)
    Abstract [en]

    This paper introduces an interaction technique called visuohaptic carving, and a strategy for how it can be utilized concretely by designers. Visuohaptic carving is well suited for visualization of multi-layered computer graphics objects where the aim is to illustrate and explore spatial relationships between segments and structures within three-dimensional objects. Possible applications include anatomy exploration, cut-away illustrations and interactive art. Through our work with designing applications that uses visuohaptic carving, we have identified three key requirements as a strategy for making visuohaptic carving an effective design resource: 1) a ready-made but mutable implementation, 2) tools to directly form and tune the implementation in terms of scale, stiffness and carving rate, and 3) formulation of a work-flow practice.

  • 15.
    Forsslund, Jonas
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Sallnäs Pysander, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Lundin Palmerius, Karljohan
    Norrköping Visualization and Interaction Studio, Linköping University, Norrköping.
    Design of Perceptualization Applications in Medicine2011Conference paper (Refereed)
    Abstract [en]

    We are in this position paper presenting the experiences we have from three medical application projects. A user centered design methodology have been applied in order to ground the design in requirements gathered from field studies of professional medical environments. Methods used have been interviews, user observations in the work context and cooperative evaluations of prototypes. With a particular focus on haptic (touch) feedback, we are exploring how novel medical applications can benefit from feedback to more senses than vision and how needs can berevealed and transformed into effective design.

  • 16.
    Forsslund, Jonas
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Sallnäs Pysander, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Lundin Palmerius, Karljohan
    Norrköping Visualization and Interaction Studio, Linköping University, Norrköping.
    A User Centered Designed FOSS Implementation of Bone Surgery Simulations2009In: Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009, 2009, 391-392 p.Conference paper (Refereed)
    Abstract [en]

    Different aspects of bone surgery simulation has been a popular topic in haptics research field. This demonstration paper has two major results: a free and open source software (FOSS) implementation of a well known algorithm for tool-bone interaction force estimation, and an evaluation conducted as part of a suggested User-centered design approach for creation of a surgery simulator targeting Oral Surgery in particular.

  • 17.
    Forsslund, Jonas
    et al.
    KTH, School of Computer Science and Communication (CSC), Media Technology and Interaction Design, MID.
    Yip, Michael
    Stanford University, USA.
    Sallnäs, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC), Media Technology and Interaction Design, MID.
    WoodenHaptics: A Starting Kit for Crafting Force-Reflecting Spatial Haptic Devices2015In: Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction, Stanford: ACM Digital Library, 2015, 133-140 p.Conference paper (Refereed)
    Abstract [en]

    Spatial haptic interfaces have been around for 20 years. Yet, few affordable devices have been produced, and the design space in terms of physical workspace and haptic fidelity of devices that have been produced are limited and discrete. In this paper, an open-source, open-hardware module-based kit is presented that allows an interaction designer with little electro-mechanical experience to manufacture and assemble a fully working spatial haptic interface. It also allows for modification in shape and size as well as tuning of parameters to fit a particular task or application. Results from an evaluation showed that the haptic quality of the WoodenHaptics device was on par with a Phantom Desktop and that a novice could assemble it with guidance in a normal office space. This open source starting kit, uploaded free-to-download online, affords sketching in hardware; it “unsticks” the hardware from being a highly-specialized and esoteric craft to being an accessible and user-friendly technology, while maintaining the feel of high-fidelity haptics.

  • 18.
    Jansson, Johan
    et al.
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis, NA (closed 2012-06-30).
    Ioakeimidou, Foteini
    KTH, School of Computer Science and Communication (CSC).
    Ericson, Finn
    KTH, School of Computer Science and Communication (CSC).
    Spühler, Jeannette
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis, NA (closed 2012-06-30).
    Hoffman, Johan
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis, NA (closed 2012-06-30).
    Olwal, Alex
    MIT, USA.
    Sallnäs Pysander, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Gestural 3D Interaction with a Beating Heart: Simulation Visualization and Interaction2011In: Proceedings of SIGRAD 2011: Evaluations of Graphics and Visualization— Efficiency, Usefulness, Accessibility, Usability / [ed] Thomas Larsson, Lars Kjelldahl & Kai-Mikael Jää-Aro, Linköping University Electronic Press, 2011Conference paper (Refereed)
    Abstract [en]

    The KTH School of Computer Science and Communication (CSC) established a strategic platform in Simulation-Visualization-Interaction (SimVisInt) in 2009, focused on the high potential in bringing together CSC core com-petences in simulation technology, visualization and interaction. The main part of the platform takes the form aset of new trans-disciplinary projects across established CSC research groups, within the theme of ComputationalHuman Modeling and Visualization: (i) interactive virtual biomedicine (HEART), (ii) simulation of human mo-tion (MOTION), and (iii) virtual prototyping of human hand prostheses (HAND). In this paper, we present recentresults from the HEART project that focused on gestural and haptic interaction with a heart simulation.

  • 19.
    Sallnäs Pysander, Eva-Lotta
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Moll, Jonas
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Frykholm, Oscar
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Groth, Kristina
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Forsslund, Jonas
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Pointing in Multi-Disciplinary Medical Meetings2011In: 2011 24TH INTERNATIONAL SYMPOSIUM ON COMPUTER-BASED MEDICAL SYSTEMS (CBMS) / [ed] Olive, M; Solomonides, T, NEW YORK, NY: IEEE , 2011Conference paper (Refereed)
    Abstract [en]

    In this paper a field study of using laser-pointing during multi-disciplinary medical meetings is presented. The pointing behaviour adopted by radiologists and surgeons to communicate about and collaboratively analyse patient data such as CT images today is illustrated based on field observations of pre-operative meetings. In a field test, laser-pointers were introduced in pre-operative meetings. How the dialogue and gesturing changed compared to meetings where laser-pointers were not present were investigated. Results from our study show that the multi-disciplinary medical meetings are clearly affected by the introduction of laser-pointer devices and we believe that the participants would benefit from a future gesturing tool if it was carefully designed. The implementation of an application that provides touch feedback in three dimensions of the anatomical structure of blood vessels as well as tumours is described and related to our results.

1 - 19 of 19
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