Shared-Control Robots

Vyas, K.; Bautista‐Salinas, Daniel; Zhang, Dandan; Marcus, Hani J.; Yang, Guang‐Zhong

doi:10.1007/978-1-0716-0993-4_4

Cited by 9 publications

(4 citation statements)

References 35 publications

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“…A popular medical simulation system was discussed for the dental training system, as well as the development of an oral implantation simulator that can store data collected from trainees and to be potentially used for rehearsal and medical education [33]. Haptics technology has a growing importance in surgical operations, especially minimally invasive surgery (MIS) that is commonly used in conjunction with a robotic manipulator in a bilateral teleoperation surgical system [34,35]. In some systems, an industrial robotic arm was used in a teleoperation system for MIS that was a modified six-degrees-of-freedom (6-DOFs) Denso VP-6242G with a serial mechanism and a PHANToM Premium 1.0 kinesthetic haptic device.…”

Section: Haptic Devices In Medical Applicationsmentioning

confidence: 99%

Kinematic design of linkage-based haptic interfaces for medical applications: a review

Torabi,

Nazari,

Conrad-Baldwin

et al. 2023

Preprint

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<p>A haptic interface recreates haptic feedback from virtual environments or haptic teleoperation systems that engages the user's sense of touch. High-fidelity haptic feedback is critical to the safety and success of any interaction with human beings. Such interactions can be seen in haptic systems utilized in medical fields, such as for surgical training, robotic tele-surgery, and tele-rehabilitation, which require appropriate haptic interface design and control. In order to recreate high-fidelity soft and stiff contact experiences for the user in the intended application, different designs strike different trade-offs between the desirable characteristics of an interface, such as back-drivability, low apparent inertia and low friction for the best perception of small reflected forces, large intrinsic stiffness and force feedback capability for the best perception of large reflected forces, a large-enough workspace for exploring the remote or virtual environment, and the uniformity of haptic feedback and its adequate sensitivity over the workspace. Meeting all of the requirements simultaneously is impossible, and different application-driven compromises need to be made. This paper reviews how various kinematic designs have helped address these trade-offs in desired specifications. First, we investigate the required characteristics of linkage-based haptic interfaces and inevitable trade-offs between them. Then, we study the state of the art in the kinematic design of haptic interfaces and their advantages and limitations. In all sections, we consider the applications of the intended haptic interfaces in medical scenarios. Non-linkage-based haptic interfaces are also shortly discussed to show the broad range of haptic technologies in the area. The potentials of kinematic redundancy to address the design trade-offs are introduced. Current challenges and future directions of haptic interface designs for medical applications are shortly discussed, which is finally followed by the conclusion.</p>

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Section: Haptic Devices In Medical Applicationsmentioning

confidence: 99%

Kinematic design of linkage-based haptic interfaces for medical applications: a review

Torabi,

Nazari,

Conrad-Baldwin

et al. 2023

Preprint

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“…Haptic technology has a growing importance in surgical operations especially MIS that is commonly used in conjunction with a robotic manipulator in a bilateral teleoperation fashion [40,41]. A teleoperation system was proposed for use in MIS: a modified 6 degreesof-freedom (DoFs) Denso VP-6242G with a serial mechanism and a PHANToM Premium 1.0 kinesthetic device (see Figure 1).…”

Section: Medical and Surgical Procedures-examples Of Micromanipulatiomentioning

confidence: 99%

An Application-Based Review of Haptics Technology

2021

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Recent technological development has led to the invention of different designs of haptic devices, electromechanical devices that mediate communication between the user and the computer and allow users to manipulate objects in a virtual environment while receiving tactile feedback. The main criteria behind providing an interactive interface are to generate kinesthetic feedback and relay information actively from the haptic device. Sensors and feedback control apparatus are of paramount importance in designing and manufacturing a haptic device. In general, haptic technology can be implemented in different applications such as gaming, teleoperation, medical surgeries, augmented reality (AR), and virtual reality (VR) devices. This paper classifies the application of haptic devices based on the construction and functionality in various fields, followed by addressing major limitations related to haptics technology and discussing prospects of this technology.

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“…A review of control sharing methodologies is provided in [10] within the broader field of human-robot team interaction, highlighting aspects such as modeling of human behavior and human-machine interfaces. Shared control has been used in the past years in a number of different application domains, including unmanned aerial vehicles [11], walking-assistant robots [12], brain-actuated wheelchairs, [13], mobile robots [14], bimanual manipulation [15], human-robot interaction [16], robotic surgery [17], and snake robots [18].…”

Section: Introductionmentioning

confidence: 99%