Force Discrimination Ability of the Human Hand near Absolute Threshold for the Design of Force Feedback Systems in Teleoperations

2016 ◽  
Vol 25 (1) ◽  
pp. 47-60 ◽  
Author(s):  
Faezeh Heydari Khabbaz ◽  
Andrew Goldenberg ◽  
James Drake
Keyword(s):  
Minimally Invasive ◽  
Force Feedback ◽  
Absolute Threshold ◽  
Human Perception ◽  
Feedback Signal ◽  
Human Hand ◽  
Feedback Systems ◽  
Discrimination Ability ◽  
Force Perception ◽  
Perception System

Force discrimination ability is an important surgical skill for micro or minimally invasive surgeries. This article analyzes the force perception of the human hand for lowintensity stimuli. Psychophysical experiments were conducted to measure just noticeable differences (JNDs) at four reference forces below 1 N. Reference forces are chosen to be in the range of forces in minimally invasive surgery that do not follow Weber's law. The force discrimination ability of two groups of subjects, surgeons and non-surgeons, is compared. Results demonstrate a superior ability of surgeons in discriminating small forces. The relationship between the JND and stimulus near absolute threshold is modeled. The application of the model in the design of force feedback systems for surgical teleoperation is discussed. In a force augmenting teleoperation system, the force feedback signal is amplified based on the characteristics of the human perception system. Therefore, the degraded human sense of touch at low-intensity forces would be compensated.

scholarly journals Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration

2012 ◽  
Vol 24 (6) ◽  
pp. 949-957 ◽  
Author(s):  
Ahmad Anas Yusof ◽  
◽  
Takuya Kawamura ◽  
Hironao Yamada
Keyword(s):  
Completion Time ◽  
Human Error ◽  
Sensory Feedback ◽  
Force Feedback ◽  
Risk Index ◽  
Task Completion ◽  
Feedback Systems ◽  
Force Perception ◽  
Grasping Force ◽  
Psychophysical Tests

Construction robot telegrasping operation provides considerable challenges in postdisaster recovery missions. This paper presents an evaluation of construction robot telegrasping force perception, which integrates the use of visual, auditory and force feedback systems. The integration of graphically-presented feedback force is proposed to help operators visually monitor changes in grasping force. Auditory feedback is used simultaneously to provide rapid warnings, while force feedback enhances grasping sense. Sensitivity to each type of feedback is measured by using psychophysical tests, and manipulation tests are conducted to observe effects on the gripping risk index, task completion time and subjective workload. Results validate the need for multimodal sensory feedback, for accurately controlling the grasping process, and for avoiding unnecessary action due to human error.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

scholarly journals Force Feedback Plays a Significant Role in Minimally Invasive Surgery

2005 ◽  
Vol 241 (1) ◽  
pp. 102-109 ◽  
Author(s):  
Gregory Tholey ◽  
Jaydev P. Desai ◽  
Andres E. Castellanos
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Significant Role ◽  
Invasive Surgery ◽  
Force Feedback

Real-Time 2D Surface Profile Mapping of Biological Tissue with Force Feedback in Robot-Assisted Minimally Invasive Surgery

2015 ◽  
Vol 798 ◽  
pp. 319-323
Author(s):  
Ali Reza Hassan Beiglou ◽  
Javad Dargahi
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Real Time ◽  
Invasive Surgery ◽  
Strain Gauge ◽  
Force Feedback ◽  
Surface Profile ◽  
Robot Assisted ◽  
Contact Points ◽  
Force Signal

It has been more than 20 years that robot-assisted minimally invasive surgery (RMIS) has brought remarkable accuracy and dexterity for surgeons along with the decreasing trauma for the patients. In this paper a novel method of the tissue’s surface profile mapping is proposed. The tissue surface profile plays an important role for material identification during RMIS. It is shown how by integrating the force feedback into robot controller the surface profile of the tissue can be obtained with force feedback scanning. The experiment setup includes a 5 degree of freedoms (DOFs) robot which is equipped with a strain-gauge ball caster as the force feedback. Robot joint encoders signals and the captured force signal of the strain-gauge are transferred to developed surface transformation algorithm (STA). The real-time geometrical transformation process is triggered with force signal to identify contact points between the ball caster and the artificial tissue. The 2D surface profile of tissue will be mapped based on these contact points. Real-time capability of the proposed system is evaluated experimentally for the artifical tissues in a designed test rig.

scholarly journals Handling the Theme of Hands in early Modern Cross-over Contexts

2018 ◽  
Vol 5 ◽  
pp. 31
Author(s):  
Anne Sophie Haar Refskou ◽  
Laura Søvsø Thomasen
Keyword(s):  
Early Modern ◽  
Human Perception ◽  
Human Hand ◽  
Complex Phenomenon ◽  
Comparative Analyses ◽  
Different Types ◽  
Textual Culture ◽  
The Many ◽  
Frequent Presence

The human hand is a complex phenomenon within the contexts of early modern visual and textual culture. Its frequent presence in early modern texts and illustrations - as well as the many different types of described and depicted hands - raises a number of questions as to its functions and significances. In this article, we examine the role of the hand and two of its familiar functions –pointing and touching – against diverse and diverging understandings of human perception and cognition in the period focussing particularly on relations between bodies and minds. Through comparative analyses of cross-over examples from both medicine, manuals and drama – primarily John Bulwer’sChirologia and Chironomia, William Harvey’s de Motu Cordis and extracts from Shakespeare’s plays – we explore the questions implied by hands and their contributions to the knowledge probed and proposed by these texts and illustrations.

A Robotic Approach to Stereotactic Radio-Surgery

Volume 3 ◽  
2004 ◽  
Author(s):  
Aldo Rossi ◽  
Alberto Trevisani ◽  
Alessandro Gasparetto ◽  
Vanni Zanotto
Keyword(s):  
Minimally Invasive ◽  
Force Feedback ◽  
Robotic System ◽  
Load Cell ◽  
Dose Delivery ◽  
Clinical Tests ◽  
Robotic Approach ◽  
Great Precision ◽  
X Ray

The aim of this paper is to present a new robotic system for minimally invasive radio surgery. The system is called DAANS and is used to move a new miniaturized x-ray source called PRS with great precision and repeatability. By means of the DAANS the PRS dose delivery center can be moved linearly along the emission axis and rotated about the same axis. Moreover the DAANS is provided with a load cell which measures the force, along the emission axis, exerted by the PRS on a patient’s tissues, and which allows generating an appropriate force feedback on a specifically developed haptic console. The system is now being manufactured and will soon be employed in clinical tests.

scholarly journals Haptic Glove Using Tendon-Driven Soft Robotic Mechanism

2020 ◽  
Vol 8 ◽  
Author(s):  
Siyeon Baik ◽  
Shinsuk Park ◽  
Jaeyoung Park
Keyword(s):  
Haptic Feedback ◽  
Human Perception ◽  
Force Sensor ◽  
Experimental Result ◽  
Force Distribution ◽  
Distribution Method ◽  
Force Perception ◽  
Cutaneous Feedback ◽  
Significant Difference ◽  
Kinesthetic Feedback

Recent advancements in virtual reality and augmented reality call for light-weight and compliant haptic interfaces to maximize the task-performance interactivity with the virtual or extended environment. Noting this, we propose a haptic glove using a tendon-driven compliant robotic mechanism. Our proposed interface can provide haptic feedback to two fingers of a user, an index finger and a thumb. It can provide both cutaneous and kinesthetic feedback to the fingers by using the tendon-driven system. Each actuator is paired with a force sensor to exert the desired tension accurately. In order to optimize the perception of the kinesthetic feedback, we propose a perception-based kinesthetic feedback distribution strategy. We experimentally measured the force perception weight for peripheral interphalangeal (PIP) and metacarpophalangeal (MCP) joints. We observed no significant difference in the force perception between the two joints. Then, based on the obtained weights, our proposed force distribution method calculates the force for each joint. We also evaluated the effect of additional cutaneous feedback to the kinesthetic feedback, on the force perception at the fingertip. The experimental result has shown that additional cutaneous feedback has significantly increased the sensitivity of the human perception. Finally, we evaluated our proposed system and force distribution algorithm by conducting a human subject test. The experimental result indicates that the availability of the cutaneous feedback significantly improved the perceived realism and acuity of the contact force.

Sign in / Sign up

Export Citation Format

Share Document