Multi-channel vibrotactile display for teleoperated assembly

Debus, T.; Jang, Tae-Jeong; Dupont, Pierre E.; Howe, Robert D.

doi:10.1109/robot.2002.1013423

Cited by 15 publications

(11 citation statements)

References 4 publications

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“…-Dynamic physical processes, such as rolling (Yao and Hayward, 2006) or breaking. -Force magnitude and/or direction, specifically arising from contact forces (Massimino, 1991;Debus et al, 2001Debus et al, , 2002.…”

Section: Vibrotactile (Vt) Feedback In Teleoperation or Vrmentioning

confidence: 99%

“…Example. VT augmentation of a haptic manipulandum (Debus et al, 2002) Debus and his colleagues studied VT enhancement of a PHANTOM haptic interface for the display of forces at the peg-like end effector of a slave robot ( Debus Fig. 11.…”

Section: Vibrotactile (Vt) Feedback In Teleoperation or Vrmentioning

confidence: 99%

“…The VT enhanced PHANTOM manipulandum of Debus and his colleagues(Debus et al, 2004). Left: A diagram of the master (PHANTOM) -slave (robot) system configuration.…”

mentioning

confidence: 99%

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Tactile sensory substitution: Models for enaction in HCI

Visell

2009

Interacting with Computers

111

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a b s t r a c tTo apply enactive principles within human-computer interaction poses interesting challenges to the way that we design and evaluate interfaces, particularly those that possess a strong sensorimotor character. This article surveys the field of tactile sensory substitution, an area of science and engineering that lies at the intersection of such research domains as neuroscience, haptics, and sensory prosthetics. It is argued that this area of research is of high relevance to the design and understanding of enactive interfaces that make use of touch, and is also a fertile arena for revealing fundamental issues at stake in the design and implementation of enactive interfaces, ranging from engineering, to human sensory physiology, and the function and plasticity of perception. A survey of these questions is provided, alongside a range of current and historical examples.

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Section: Vibrotactile (Vt) Feedback In Teleoperation or Vrmentioning

confidence: 99%

Section: Vibrotactile (Vt) Feedback In Teleoperation or Vrmentioning

confidence: 99%

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Tactile sensory substitution: Models for enaction in HCI

Visell

2009

Interacting with Computers

111

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“…A study investigating the effect of sensory substitution for a peg-inhole insertion task has shown that both visual feedback and vibrotactile feedback of haptic information can reduce peak forces, as compared with the case in which no feedback of haptic information is provided to the users [6]. Moreover, findings have shown that visual sensory substitution improves a userÕs sensitivity for detecting small forces by allowing the use of high feedback gains without a slowing of hand movements [19].…”

Section: Benefitsmentioning

confidence: 99%

Methods and mechanisms for contact feedback in a robot-assisted minimally invasive environment

et al. 2006

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Providing a surgeon with information regarding contacts made between instruments and tissue during robot-assisted interventions can improve task efficiency and reliability. In this report, different methods for feedback of such information to the surgeon are discussed. It is hypothesized that various methods of contact feedback have the potential to enhance performance in a robot-assisted minimally invasive environment. To verify the hypothesis, novel mechanisms needed for incorporating contact feedback were designed, including a surgeon-robot interface with full force feedback capabilities and a surgical end-effector with full force sensing capabilities, that are suitable for minimally invasive applications. These two mechanisms were used to form a robotic "master-slave" test bed for studying the effect of contact feedback on the system and user performance. Using the master-slave system, experiments for surgical tasks involving soft tissue palpation were conducted. The performance of the master-slave system was validated in terms of criteria that assess the accurate transmission of task-related information to the surgeon, which is critical in the context of soft tissue surgical applications. Moreover, using a set of experiments involving human subjects, the performance of several users in carrying out the task was compared among different methods of contact feedback.

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“…While force feedback remains a more intuitive means of relaying haptic information to the user, visual sensory substitution for force feedback (or "visual force feedback") may be able to provide sufficient feedback of an instrument's contact with tissue under certain conditions. Study of the effect of sensory substitution for a peg-inhole insertion task has shown that both visual feedback and vibro-tactile feedback of haptic information can reduce the peak forces compared to the case where no feedback of haptic information is provided to the users [10]. For the suturing task, quantifying the difference in the user's performance between manual operation and robotic teleoperation in presence of auditory/visual sensory substitution has been the subject of another study [11].…”

Section: Sensory Substitution For Haptic Feedbackmentioning

confidence: 99%

Robotic suturing forces in the presence of haptic feedback and sensory substitution

Tavakoli¹,

Patel²,

Moallem³

Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.

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-There has been some interest in recent years on how information about interactions happening between surgical instruments and tissue during robot-assisted surgery could improve the efficiency and reliability of a surgical task. In this paper, it is hypothesized that various modes of sensory feedback have the potential to enhance performance in robotassisted surgery in terms of the amount of applied forces. User performance during telemanipulated suturing is compared for cases where force feedback is replaced or complemented by visual representation of the force levels. In addition to confirming the above hypothesis, the results indicate a tradeoff between the magnitudes of applied forces and the time required to complete the task.

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Multi-channel vibrotactile display for teleoperated assembly

Cited by 15 publications

References 4 publications

Tactile sensory substitution: Models for enaction in HCI

Tactile sensory substitution: Models for enaction in HCI

Methods and mechanisms for contact feedback in a robot-assisted minimally invasive environment

Robotic suturing forces in the presence of haptic feedback and sensory substitution

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