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

2005 ◽  
Author(s):  
R.V. Patel M. Tavakoli
Keyword(s):  
Haptic Feedback ◽  
Sensory Substitution

scholarly journals Human-Scale Virtual Environment for Product Design: Effect of Sensory Substitution

2006 ◽  
Vol 5 (2) ◽  
pp. 37-44 ◽  
Author(s):  
Paul Richard ◽  
Damien Chamaret ◽  
François-Xavier Inglese ◽  
Philippe Lucidarme ◽  
Jean-Louis Ferrier
Keyword(s):  
Product Design ◽  
Virtual Environment ◽  
Large Scale ◽  
Haptic Feedback ◽  
Calibration Method ◽  
Open Loop ◽  
Tactile Feedback ◽  
Sensory Substitution ◽  
Human Scale ◽  
Different Parts

This paper presents a human-scale virtual environment (VE) with haptic feedback along with two experiments performed in the context of product design. The user interacts with a virtual mock-up using a large-scale bimanual string-based haptic interface called SPIDAR (Space Interface Device for Artificial Reality). An original self-calibration method is proposed. A vibro-tactile glove was developed and integrated to the SPIDAR to provide tactile cues to the operator. The purpose of the first experiment was: (1) to examine the effect of tactile feedback in a task involving reach-and-touch of different parts of a digital mock-up, and (2) to investigate the use of sensory substitution in such tasks. The second experiment aimed to investigate the effect of visual and auditory feedback in a car-light maintenance task. Results of the first experiment indicate that the users could easily and quickly access and finely touch the different parts of the digital mock-up when sensory feedback (either visual, auditory, or tactile) was present. Results of the of the second experiment show that visual and auditory feedbacks improve average placement accuracy by about 54 % and 60% respectively compared to the open loop case

A Study on Visual, Auditory, and Haptic Feedback for Assembly Tasks

2004 ◽  
Vol 13 (1) ◽  
pp. 16-21 ◽  
Author(s):  
Bernd Petzold ◽  
Michael F. Zaeh ◽  
Berthold Faerber ◽  
Barbara Deml ◽  
Hans Egermeier ◽  
...  
Keyword(s):  
Haptic Feedback ◽  
3D Models ◽  
Sensory Substitution ◽  
Video Streams ◽  
Sensory Augmentation ◽  
Feedback Information ◽  
Graphical Feedback ◽  
Remote Environment ◽  
Assembly Tasks ◽  
Graphical Presentation

Telepresent tasks involve removal of the human operator from an immediate working area and relocation to a remote environment that offers the operator all necessary control features. In this remote location, the operator must be provided with adequate feedback information such that the task at hand can be effectively executed. This research explores the effectiveness of various feedback methods. More specifically, graphical feedback in the form of video streamed images is compared against rendered 3D models, the overall effectiveness of haptic feedback is analyzed, and the influences of sensory augmentation and sensory substitution are examined. This study involved 48 participants, each of whom executed a simple clockwork assembly task under various feedback mechanisms. The results support the use of 3D models as opposed to live video streams for graphical presentation, utilization of haptic feedback (which was found to significantly enhance operation effectiveness), and the use of sensory augmentation and substitution under specific circumstances.

scholarly journals Haptic Feedback in a Telepresence System for Endoscopic Heart Surgery

2007 ◽  
Vol 16 (5) ◽  
pp. 459-470 ◽  
Author(s):  
Hermann Mayer ◽  
Istvan Nagy ◽  
Alois Knoll ◽  
Eva U Braun ◽  
Robert Bauernschmitt ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Heart Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Suture Material ◽  
Autonomous Robot ◽  
Surgical Instruments ◽  
Sensory Substitution ◽  
Minimally Invasive Procedures ◽  
Invasive Procedures

The implementation of telemanipulator systems for cardiac surgery enabled heart surgeons to perform delicate minimally invasive procedures with high precision under stereoscopic view. At present, commercially available systems do not provide force-feedback or Cartesian control for the operating surgeon. The lack of haptic feedback may cause damage to tissue and can cause breaks of suture material. In addition, minimally invasive procedures are very tiring for the surgeon due to the need for visual compensation for the missing force feedback. While a lack of Cartesian control of the end effectors is acceptable for surgeons (because every movement is visually supervised), it prevents research on partial automation. In order to improve this situation, we have built an experimental telemanipulator for endoscopic surgery that provides both force-feedback (in order to improve the feeling of immersion) and Cartesian control as a prerequisite for automation. In this article, we focus on the inclusion of force feedback and its evaluation. We completed our first bimanual system in early 2003 (EndoPAR Endoscopic Partial Autonomous Robot). Each robot arm consists of a standard robot and a surgical instrument, hence providing eight DOF that enable free manipulation via trocar kinematics. Based on the experience with this system, we introduced an improved version in early 2005. The new ARAMIS system (Autonomous Robot Assisted Minimally Invasive Surgery) has four multi-purpose robotic arms mounted on a gantry above the working space. Again, the arms are controlled by two force-feedback devices, and 3D vision is provided. In addition, all surgical instruments have been equipped with strain gauge force sensors that can measure forces along all translational directions of the instrument's shaft. Force-feedback of this system was evaluated in a scenario of robotic heart surgery, which offers an impression very similar to the standard, open procedures with high immersion. It enables the surgeon to palpate arteriosclerosis, to tie surgical knots with real suture material, and to feel the rupture of suture material. Therefore, the hypothesis that haptic feedback in the form of sensory substitution facilitates performance of surgical tasks was evaluated on the experimental platform described in the article (on the EndoPAR version). In addition, a further hypothesis was explored: The high fatigue of surgeons during and after robotic operations may be caused by visual compensation due to the lack of force-feedback (Thompson, J., Ottensmeier, M., & Sheridan, T. 1999. Human Factors in Telesurgery, Telmed Journal, 5 (2) 129–137.).

scholarly journals Sensory Substitution for the Visually Impaired: A Study on the Usability of the Sound of Vision System in Outdoor Environments

Electronics ◽  
2021 ◽  
Vol 10 (14) ◽  
pp. 1619
Author(s):  
Otilia Zvorișteanu ◽  
Simona Caraiman ◽  
Robert-Gabriel Lupu ◽  
Nicolae Alexandru Botezatu ◽  
Adrian Burlacu
Keyword(s):  
Visually Impaired ◽  
Haptic Feedback ◽  
Vision System ◽  
Real Life ◽  
Added Value ◽  
Sensory Substitution ◽  
Visually Impaired People ◽  
Impaired People ◽  
Outdoor Environments ◽  
White Cane

For most visually impaired people, simple tasks such as understanding the environment or moving safely around it represent huge challenges. The Sound of Vision system was designed as a sensory substitution device, based on computer vision techniques, that encodes any environment in a naturalistic representation through audio and haptic feedback. The present paper presents a study on the usability of this system for visually impaired people in relevant environments. The aim of the study is to assess how well the system is able to help the perception and mobility of the visually impaired participants in real life environments and circumstances. The testing scenarios were devised to allow the assessment of the added value of the Sound of Vision system compared to traditional assistive instruments, such as the white cane. Various data were collected during the tests to allow for a better evaluation of the performance: system configuration, completion times, electro-dermal activity, video footage, user feedback. With minimal training, the system could be successfully used in outdoor environments to perform various perception and mobility tasks. The benefit of the Sound of Vision device compared to the white cane was confirmed by the participants and by the evaluation results to consist in: providing early feedback about static and dynamic objects, providing feedback about elevated objects, walls, negative obstacles (e.g., holes in the ground) and signs.

A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery

2014 ◽  
Vol 8 (4) ◽  
Author(s):  
Ali Talasaz ◽  
Ana Luisa Trejos ◽  
Simon Perreault ◽  
Harmanpreet Bassan ◽  
Rajni V. Patel
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Haptic Feedback ◽  
Sensory Substitution ◽  
Haptic Interfaces ◽  
Test Bed ◽  
Haptic Information ◽  
Dual Arm

This paper describes a dual-arm teleoperation (master-slave) system which has been developed to explore the effect of haptics in robotics-assisted minimally invasive surgery (RAMIS). This setup is capable of measuring forces in 7 degrees of freedom (DOF) and fully reflecting them to the operator through two 7-DOF haptic interfaces. An application of the test bed is in enabling the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution). This paper discusses the design rationale, kinematic analysis and dynamic modeling of the robot manipulators, and the control system developed for the setup. Using the accurate model developed in this paper, a highly transparent haptics-enabled system can be achieved and used in robot-assisted telesurgery. Validation results obtained through experiments are presented and demonstrate the correctness and effectiveness of the developed models. The application of the setup for two RAMIS surgical tasks, a suture manipulation task and a tumor localization task, is described with different haptics modalities available through the developed haptics-enabled system for each application.

scholarly journals Effects of Sensory Feedback and Collider Size on Reach-to-Grasp Coordination in Haptic-Free Virtual Reality

2021 ◽  
Vol 2 ◽  
Author(s):  
Mariusz P. Furmanek ◽  
Madhur Mangalam ◽  
Kyle Lockwood ◽  
Andrea Smith ◽  
Mathew Yarossi ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Sensory Feedback ◽  
Haptic Feedback ◽  
Skill Training ◽  
Motor Planning ◽  
Sensory Substitution ◽  
Virtual Object ◽  
Reach To Grasp ◽  
Head Mounted Display ◽  
Different Diameters

Technological advancements and increased access have prompted the adoption of head- mounted display based virtual reality (VR) for neuroscientific research, manual skill training, and neurological rehabilitation. Applications that focus on manual interaction within the virtual environment (VE), especially haptic-free VR, critically depend on virtual hand-object collision detection. Knowledge about how multisensory integration related to hand-object collisions affects perception-action dynamics and reach-to-grasp coordination is needed to enhance the immersiveness of interactive VR. Here, we explored whether and to what extent sensory substitution for haptic feedback of hand-object collision (visual, audio, or audiovisual) and collider size (size of spherical pointers representing the fingertips) influences reach-to-grasp kinematics. In Study 1, visual, auditory, or combined feedback were compared as sensory substitutes to indicate the successful grasp of a virtual object during reach-to-grasp actions. In Study 2, participants reached to grasp virtual objects using spherical colliders of different diameters to test if virtual collider size impacts reach-to-grasp. Our data indicate that collider size but not sensory feedback modality significantly affected the kinematics of grasping. Larger colliders led to a smaller size-normalized peak aperture. We discuss this finding in the context of a possible influence of spherical collider size on the perception of the virtual object’s size and hence effects on motor planning of reach-to-grasp. Critically, reach-to-grasp spatiotemporal coordination patterns were robust to manipulations of sensory feedback modality and spherical collider size, suggesting that the nervous system adjusted the reach (transport) component commensurately to the changes in the grasp (aperture) component. These results have important implications for research, commercial, industrial, and clinical applications of VR.

scholarly journals Game design for visually-impaired individuals: Creativity and innovation theories and sensory substitution devices influence on virtual and physical navigation skills

2018 ◽  
Vol 4 (1) ◽  
pp. 36 ◽  
Author(s):  
Rose Marie Baker ◽  
Karina Ramos ◽  
John R Turner
Keyword(s):  
Action Research ◽  
Game Design ◽  
Visually Impaired ◽  
Research Study ◽  
Haptic Feedback ◽  
Sensory Substitution ◽  
Design Elements ◽  
Potential Benefits ◽  
Creativity And Innovation ◽  
Impaired Individual

This action research study examined the design elements of three VR games that used an HTC VIVE VR helmet, two HTC game controllers, and a VR horse simulator for functionality and transferability to orientation and mobility (O&M) education for visually impaired individuals. The functionality of the VR games was tested with a visually-impaired individual based upon five characteristics that are important to O&M education: perimeter scanning then grid scanning, hearing, touch, smell, and perceptions of body positions. The horse simulator has potential benefits for proprioception and kinesthesia development. The inconsistent haptic feedback requires redesign consideration for inclusion within VR games and systems for O&M education.

scholarly journals Audio-Tactile Rendering: A Review on Technology and Methods to Convey Musical Information through the Sense of Touch

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6575
Author(s):  
Byron Remache-Vinueza ◽  
Andrés Trujillo-León ◽  
Mireya Zapata ◽  
Fabián Sarmiento-Ortiz ◽  
Fernando Vidal-Verdú
Keyword(s):  
Haptic Feedback ◽  
Relevant Literature ◽  
Assistive Technologies ◽  
Sensory Substitution ◽  
Future Research ◽  
Music Listening ◽  
Music Psychology ◽  
Music Audio ◽  
Sense Of Touch

Tactile rendering has been implemented in digital musical instruments (DMIs) to offer the musician haptic feedback that enhances his/her music playing experience. Recently, this implementation has expanded to the development of sensory substitution systems known as haptic music players (HMPs) to give the opportunity of experiencing music through touch to the hearing impaired. These devices may also be conceived as vibrotactile music players to enrich music listening activities. In this review, technology and methods to render musical information by means of vibrotactile stimuli are systematically studied. The methodology used to find out relevant literature is first outlined, and a preliminary classification of musical haptics is proposed. A comparison between different technologies and methods for vibrotactile rendering is performed to later organize the information according to the type of HMP. Limitations and advantages are highlighted to find out opportunities for future research. Likewise, methods for music audio-tactile rendering (ATR) are analyzed and, finally, strategies to compose for the sense of touch are summarized. This review is intended for researchers in the fields of haptics, assistive technologies, music, psychology, and human–computer interaction as well as artists that may make use of it as a reference to develop upcoming research on HMPs and ATR.

scholarly journals Investigating the Effect of Sensory Concurrency on Learning Haptic Spatiotemporal Signals

2021 ◽  
Vol 5 (1) ◽  
pp. 1-30
Author(s):  
Iain Carson ◽  
Aaron Quigley ◽  
Loraine Clarke ◽  
Uta Hinrichs
Keyword(s):  
Interface Design ◽  
Haptic Feedback ◽  
Sensory Deprivation ◽  
Multimodal Interfaces ◽  
Sensory Substitution ◽  
Human Computer Interactions ◽  
Medium Term ◽  
Hybrid Mechanism ◽  
Maze Navigation ◽  
New Generation

A new generation of multimodal interfaces and interactions is emerging. Drawing on the principles of Sensory Substitution and Augmentation Devices (SSADs), these new interfaces offer the potential for rich, immersive human-computer interactions, but are difficult to design well, and take time to master, creating significant barriers towards wider adoption. Following a review of the literature surrounding existing SSADs, their metrics for success and their growing influence on interface design in Human Computer Interaction, we present a medium term (4-day) study comparing the effectiveness of various combinations of visual and haptic feedback (sensory concurrencies) in preparing users to perform a virtual maze navigation task using haptic feedback alone. Participants navigated 12 mazes in each of 3 separate sessions under a specific combination of visual and haptic feedback, before performing the same task using the haptic feedback alone. Visual sensory deprivation was shown to be inferior to visual & haptic concurrency in enabling haptic signal comprehension, while a new hybridized condition combining reduced visual feedback with the haptic signal was shown to be superior. Potential explanations for the effectiveness of the hybrid mechanism are explored, and the scope and implications of its generalization to new sensory interfaces is presented.

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