Data-driven comparison of four cutaneous displays for pinching palpation in robotic surgery

Brown, Jeremy D.; Ibrahim, Mary; Chase, Elyse D. Z.; Pacchierotti, Claudio; Kuchenbecker, Katherine J.

doi:10.1109/haptics.2016.7463169

Cited by 17 publications

(7 citation statements)

References 19 publications

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“…The distinguishing feature of the W-FYD is that, since the fabric stretching is actuated separately from the lifting mechanism, the stiffness of the fabric can be changed independently and is decoupled from the force exerted on the user in the passive mode. This is an important difference respect to previously proposed designs, e.g., [13], [30], where the force increases as the sheet is wrapped around the finger, thus not allowing to independently control force and stiffness.…”

Section: System Architecturementioning

confidence: 76%

W-FYD: A Wearable Fabric-Based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality

Fani

Ciotti

Battaglia

et al. 2018

IEEE Trans. Haptics

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Despite the importance of softness, there is no evidence of wearable haptic systems able to deliver controllable softness cues. Here, we present the Wearable Fabric Yielding Display (W-FYD), a fabric-based display for multi-cue delivery that can be worn on a user's finger and enables, for the first time, both active and passive softness exploration. It can also induce a sliding effect under the finger-pad. A given stiffness profile can be obtained by modulating the stretching state of the fabric through two motors. Furthermore, a lifting mechanism allows to put the fabric in contact with the user's finger-pad, to enable passive softness rendering. In this paper, we describe the architecture of W-FYD, and a thorough characterization of its stiffness workspace, frequency response, and softness rendering capabilities. We also computed device Just Noticeable Difference in both active and passive exploratory conditions, for linear and non-linear stiffness rendering as well as for sliding direction perception. The effect of device weight was also considered. Furthermore, performance of participants and their subjective quantitative evaluation in detecting sliding direction and softness discrimination tasks are reported. Finally, applications of W-FYD in tactile augmented reality for open palpation are discussed, opening interesting perspectives in many fields of human-machine interaction.

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Section: System Architecturementioning

confidence: 76%

W-FYD: A Wearable Fabric-Based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality

Fani

Ciotti

Battaglia

et al. 2018

IEEE Trans. Haptics

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“…Regarding characterization of the device, results showed nominal output force was 1 N, with a bandwidth of 30 Hz, which is acceptable for a fingertip haptic device. In comparison, haptic devices actuated by miniaturized RC servo motors [1,2,11] achieve maximum bandwidth below 10 Hz, with the additional drawback of haptic and acoustic noise generated by the gear reduction. On the other hand, voice coil actuated haptic devices achieve frequencies up to 250 Hz [5] at the cost of higher mass (30 g) or lower output force.…”

Section: Discussionmentioning

confidence: 99%

Design of a Twisted String Actuated Haptic Thimble for Cutaneous Force Feedback

Leonardis

Tiseni

Chiaradia

et al. 2020

Mechanisms and Machine Science

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Sense of touch in virtual reality and teleoperation can be delivered by compact and wearable devices, worn at users' hands. Fingertip haptic devices in the shape of actuated thimbles can render highly informative cutaneous feedback. Design of wearable fingertip haptic devices is often a compromise between conflicting features: lightness and compactness, and richness and intensity of the haptic feedback. Mechanical transmissions with reduction can increase output force of micro-sized motors, yet introducing noise and vibrations which degrade quality of the rendered signals. In this work we experimented a different method to actuate fingertip haptic device, based on twisted string actuators: a reduction stage is obtained by twisting a tendon transmission with a rotary motor. It constitutes a lightweight and noiseless reduction that can achieve high output force in a compact mechanism. In the work we present design and implementation of the device, followed by experimental characterization of its performance in terms of frequency response and output force capabilities.

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“…During the interact phase after contact, the stimulation frequency stayed the same, so as not to deliver further information and purely evaluate the efficacy of the proximity sensation at the initial contact. telerobotic object manipulation because it is the most basic mode of fine finger control [45][46][47][48] and has been widely used for telerobotic surgeries 49,50 . Also, tips of the robotic gripper move along one direction, making the data analysis and comparison simple and clear.…”

Section: Implementation Of the Proximity Sensationmentioning

confidence: 99%

Electrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch

Zhao

Yeo

Manoharan

et al. 2020

Sci Rep

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for teleoperation tasks requiring high control accuracy, it is essential to provide teleoperators with information on the interaction between the end effector and the remote environment. Real-time imaging devices have been widely adopted, but it delivers limited information, especially when the end effectors approach the target following the line-of-sight. In such situations, teleoperators rely on the perspective at the screen and can apply high force unintentionally at the initial contact. This research proposes to deliver the distance information at teleoperation to the fingertips of teleoperators, i.e., proximity sensation. Transcutaneous electrical stimulation was applied onto the fingertips of teleoperators, with the pulsing frequency inversely proportional to the distance. The efficacy of the proximity sensation was evaluated by the initial contact force during telerobotic pinch in three sensory conditions: vision only, vision + visual assistance (distance on the screen), and vision + proximity sensation. The experiments were repeated at two viewing angles: 30-60° and line-of-sight, for eleven healthy human subjects. For both cases, the initial contact force could be significantly reduced by either visual assistance (20-30%) or the proximity sensation (60-70%), without additional processing time. The proximity sensation is two-to-three times more effective than visual assistance regarding the amount of force reduction. open Scientific RepoRtS | (2020) 10:163 | https://doi.org/10.1038/s41598-019-56985-9www.nature.com/scientificreports www.nature.com/scientificreports/ or more grippers 7,8 to form triangulation. When the vision is blocked or unclear due to anatomical structures, blood, or instruments, which is often the case, the camera cannot capture the approaching motion properly. Further, understanding visual feedback for use in fingertip manipulations needs significant cognitive involvement and processing time to interpret the real-time video, which can be a high burden to the teleoperators who need to handle multiple tasks demanding continuous decision making during the teleoperation. The intrinsic visual-proprioceptive mapping error is another challenge, because even the high-resolution visual feedback may not be effective with the visual-proprioceptive mapping error 9,10 .The lack of reliable sensory feedback during the approach phase can result in higher force than the desired at the moment of contact between the end effector under teleoperation and the target objects, potentially disturbing subsequent manipulations or permanently damaging sensitive objects 11,12 . A high level of concentration is required to address this issue 13,14 , but it is still challenging to accurately estimate the necessary information and to complete the task on a timely basis. As an alternative, visual assistance displaying texts or numbers on the screen and virtual reality have shown their efficacy for fine force control during robotic surgery [15][16][17][18][19] . The efficacy of visual assistance in improving control a...

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Data-driven comparison of four cutaneous displays for pinching palpation in robotic surgery

Cited by 17 publications

References 19 publications

W-FYD: A Wearable Fabric-Based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality

W-FYD: A Wearable Fabric-Based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality

Design of a Twisted String Actuated Haptic Thimble for Cutaneous Force Feedback

Electrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch

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