Human-Centered Design of a Spine Biopsy Simulator and the Effects of Visual and Force Feedback on Path-Tracking Performance

2000 ◽  
Vol 9 (4) ◽  
pp. 337-349 ◽  
Author(s):  
Corinna Lathan ◽  
Kevin Cleary ◽  
Laura Traynor
Keyword(s):  
Time Delay ◽  
Visual Feedback ◽  
Task Analysis ◽  
Human Performance ◽  
Force Feedback ◽  
Spatial Reasoning ◽  
Path Tracking ◽  
Tracking Performance ◽  
Tissue Samples ◽  
Technological Intervention

Computed tomography (CT)-directed needle biopsies are routinely performed to gather tissue samples near the spine. As currently practiced, this procedure requires a great deal of spatial reasoning, skill, and training on the part of the interventional radiologist. Our goal was to evaluate the procedure through a task analysis and to make recommendations as to how the procedure could be improved through technological intervention. To this end, a spine biopsy surgical simulator was developed to mimic the current procedure and to serve as a development testbed for procedure innovation. Our methods for looking at the biopsy procedure itself included a task analysis (which produces a detailed list of tasks needed to complete a goal, their order, and time to completion) and an evaluation of human performance measures related to our simulator interface. Experiments were run to examine the effects of force and visual feedback on path-tracking performance and to determine the effects of time delay in the visual feedback on path-tracking performance. Force feedback improved performance in the conditions with visual feedback and in the conditions with visual feedback and time delay.

Constant Visual and Haptic Time Delays in Simulated Bilateral Teleoperation: Quantifying the Human Operator Performance

2013 ◽  
Vol 22 (4) ◽  
pp. 271-290 ◽  
Author(s):  
Tariq Abuhamdia ◽  
Jacob Rosen
Keyword(s):  
Time Delay ◽  
Time Delays ◽  
Human Performance ◽  
Force Feedback ◽  
Bilateral Teleoperation ◽  
Haptic Information ◽  
Position Errors ◽  
Pick And Place ◽  
Place Task ◽  
Two Delays

Visual feedback and force feedback (haptics) are the two streams of information in a robotic bilateral teleoperation where the operator manipulates a robot in a remote location. Delivering the visual and the haptic information depends in part on the characteristics of the communication network and results in a nonsynchronized delay. The goal is to study the effect of constant nonsynchronized and synchronized time delay of visual and haptic information on the human teleoperation performance. The experimental setup included a virtual reality environment, which allows the operator to manipulate the virtual objects in a simulated remote environment through a haptic device that renders the force feedback. The visual and the haptic information were delayed independently in the range of 0–500 ms, creating 121 different scenarios of synchronized and nonsynchronized delays. Selecting specific parameters of the remote virtual environment guaranteed stable teleportation, given the time delays under study. The experimental tasks included tracing predefined geometrical shapes and a pick-and-place task, which simulates both structured and unstructured interactions under the influence of guiding forces. Eight subjects (n = 8) participated in the experiment performing three repetitions of three different teleoperation tasks with 121 combinations of visual and haptic time delays. The measured parameters that were used to assess the human performance were the task completion time and the position errors expressed as a function of the visual and the haptic time delay. Then, regression and ANOVA analyses were performed. The results indicated that the human performance is a function of the sum of the two delays. As the sum of the two delays increases, the human performance degrades and is expressed with an increase in completion time and position errors. The performance degradation is more pronounced in the pick-and-place task compared to the tracing task. In scenarios where the visual and the haptics information were out of synchronization, the human performance was better than intentionally delaying one source of information in an attempt to synchronize and unify the two delays. The results of this study may be applied to any teleoperation tasks over a network with inherent time delays and more specifically to telesurgery in which performance degradation due to time delay has a profound effect on the quality of the healthcare delivered, patient safety, and ultimately the outcomes of the surgical procedure itself.

Optimal Modified Tracking Performance of Time-Delay Systems with Packet Dropouts Constraint

2017 ◽  
Vol 19 (4) ◽  
pp. 1508-1518 ◽  
Author(s):  
Xi-Sheng Zhan ◽  
Zhu-Jun Zhou ◽  
Jie Wu ◽  
Tao Han
Keyword(s):  
Time Delay ◽  
Tracking Performance ◽  
Delay Systems ◽  
Time Delay Systems ◽  
Packet Dropouts

Mitigating Accident Risk in Farm Tractors

2008 ◽  
Vol 16 (1) ◽  
pp. 6-13
Author(s):  
Linnea Etzler ◽  
Stefano Marzani ◽  
Roberto Montanari ◽  
Francesco Tesauri
Keyword(s):  
Task Analysis ◽  
Force Feedback ◽  
Risk Mitigation ◽  
Accident Risk ◽  
Final Solution ◽  
Work Situation ◽  
Auditory Displays ◽  
Hierarchical Task Analysis ◽  
Function Allocation ◽  
And Function

FEATURE AT A GLANCE: The complexity of on-board equipment for farm tractors has grown dramatically in recent years, leading to significant changes in the operator's work situation. Today, most tractor functions are performed from inside the cabin, but little progress has been made toward reducing the risks associated with higher workloads. This article describes a methodology for designing a risk mitigation system for reducing rollover accidents. The methodology represents a combination of hierarchical task analysis and function allocation. Its implementation led to a final solution composed of visual and auditory displays and a joystick that gives force feedback in risky situations

Evaluation of a Haptic Mixed Reality System for Interactions with a Virtual Control Panel

2005 ◽  
Vol 14 (6) ◽  
pp. 677-696 ◽  
Author(s):  
Christoph W. Borst ◽  
Richard A. Volz
Keyword(s):  
Task Performance ◽  
Visual Feedback ◽  
Direct Contact ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Control Panel ◽  
Combined Approach ◽  
Subjective Ratings ◽  
Virtual Control

We present a haptic feedback technique that combines feedback from a portable force-feedback glove with feedback from direct contact with rigid passive objects. This approach is a haptic analogue of visual mixed reality, since it can be used to haptically combine real and virtual elements in a single display. We discuss device limitations that motivated this combined approach and summarize technological challenges encountered. We present three experiments to evaluate the approach for interactions with buttons and sliders on a virtual control panel. In our first experiment, this approach resulted in better task performance and better subjective ratings than the use of only a force-feedback glove. In our second experiment, visual feedback was degraded and the combined approach resulted in better performance than the glove-only approach and in better ratings of slider interactions than both glove-only and passive-only approaches. A third experiment allowed subjective comparison of approaches and provided additional evidence that the combined approach provides the best experience.

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