VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

Kuchenbecker, Katherine J.; Gewirtz, Jamie; McMahan, William; Standish, Dorsey; Martin, Paul; Bohren, J. Aislinn; Mendoza, Pierre J.; Lee, David I.

doi:10.1007/978-3-642-14064-8_28

Cited by 69 publications

(62 citation statements)

References 19 publications

(22 reference statements)

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“…By alternating the voltage, it was possible to modulate the friction force felt by the moving finger. A similar device has been presented in [14], where the authors developed a system, named VerroTouch, for providing cutaneous feedback to surgeons during telerobotic surgery. VerroTouch measured the vibrations caused by tool contact and recreates them on the master handles for the surgeon.…”

Section: Introductionmentioning

confidence: 99%

Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Pacchierotti

Chinello

Malvezzi

et al. 2012

Haptics: Perception, Devices, Mobility, and Communication

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Abstract. This paper presents an experiment of two finger grasping. The task considered is the peg-in-hole and the simulated force feedback is cutaneous or kinesthetic. The kinesthetic feedback is provided by a commercial haptic device while the cutaneous one is provided by a new haptic display proposed in this work, which allows to render at the fingertip a wide range of contact forces. The device consists of a mobile surface, which interacts with the fingertip, actuated by three wires directly connected to the motors placed on the grounded structure of the display. This work summarizes the design of the proposed display and presents the main relationships which describe its kinematics and dynamics. Results showed that cutaneous feedback exhibits improved performances when compared to visual feedback only.

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Section: Introductionmentioning

confidence: 99%

Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Pacchierotti

Chinello

Malvezzi

et al. 2012

Haptics: Perception, Devices, Mobility, and Communication

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“…This device can produce force feedback to the user and was implemented to facilitate the use of a surgical robot [10]. Here, force touch feedback sensations are used to help the operator of the robot to interact with the internal body parts encountered in minimally invasive surgery.…”

Section: Introductionmentioning

confidence: 99%

Tactile sensing system using electro-tactile feedback

Pamungkas

Ward

2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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Abstract2015 IEEE. Tactile or touch sensing can enable an object's surface texture and other properties to be perceived which can facilitate grasping and manipulating various objects. Prosthetic hand users and operators of teleoperated robot arms also need to perceive these tactile properties by some means to effectively manipulate objects and performed skilled work. This paper introduces a tactile sensing and feedback system that is based on detecting surface vibrations in an artificial finger, when contact or friction with a surface is made, and appropriately stimulating nerves in the user's skin with electro-tactile feedback. This feedback system has benefits over existing systems because it can deliver a wide variety of sensations to the user and is compact, non-mechanical, wireless and comfortable for the user to wear. Experimental results are provided which show the potential of our system at achieving remote tactile sensing and feedback of textured surfaces. Abstract -Tactile or touch sensing can enable an object's surface texture and other properties to be perceived which can facilitate grasping and manipulating various objects. Prosthetic hand users and operators of tele-operated robot arms also need to perceive these tactile properties by some means to effectively manipulate objects and performed skilled work. This paper introduces a tactile sensing and feedback system that is based on detecting surface vibrations in an artificial finger, when contact or friction with a surface is made, and appropriately stimulating nerves in the user's skin with electro-tactile feedback. This feedback system has benefits over existing systems because it can deliver a wide variety of sensations to the user and is compact, non-mechanical, wireless and comfortable for the user to wear. Experimental results are provided which show the potential of our system at achieving remote tactile sensing and feedback of textured surfaces.

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“…This feedback approach has been demonstrated via bench-top research devices [14,20], and has shown promise for both industrial [7] and medical applications [25,15,18]. This approach has also been investigated for improving the tactile sensitivity of hand-held (non-robotic) tools [26].…”

Section: Introductionmentioning

confidence: 99%

Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals

McMahan

Kuchenbecker

2012

Haptics: Perception, Devices, Mobility, and Communication

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New robots for teleoperation and autonomous manipulation are increasingly being equipped with highbandwidth accelerometers for measuring the transient vibrational cues that occur during con-tact with objects. Unfortunately, the robot's own internal mechanisms often generate significant high-frequency accelerations, which we term ego-vibrations. This paper presents an approach to characterizing and removing these signals from acceleration measurements. We adapt the audio processing technique of spectral subtraction over short time windows to remove the noise that is estimated to occur at the robot's present joint velocities. Implementation for the wrist roll and gripper joints on a Willow Garage PR2 robot demonstrates that spectral subtraction significantly increases signal-to-noise ratio, which should improve vibrotactile event detection in both teleoperation and autonomous robotics. Abstract. New robots for teleoperation and autonomous manipulation are increasingly being equipped with high-bandwidth accelerometers for measuring the transient vibrational cues that occur during contact with objects. Unfortunately, the robot's own internal mechanisms often generate significant high-frequency accelerations, which we term ego-vibrations. This paper presents an approach to characterizing and removing these signals from acceleration measurements. We adapt the audio processing technique of spectral subtraction over short time windows to remove the noise that is estimated to occur at the robot's present joint velocities. Implementation for the wrist roll and gripper joints on a Willow Garage PR2 robot demonstrates that spectral subtraction significantly increases signal-to-noise ratio, which should improve vibrotactile event detection in both teleoperation and autonomous robotics.

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VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

Cited by 69 publications

References 19 publications

Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Tactile sensing system using electro-tactile feedback

Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals

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