Cutaneous Haptic Feedback In Robotic Teleoperation

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Cutaneous Haptic Feedback in Robotic Teleoperation

Author : Claudio Pacchierotti
Publisher : Springer
ISBN 13 : 331925457X
Total Pages : 157 pages
Book Rating : 4.3/5 (192 download)

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Book Synopsis Cutaneous Haptic Feedback in Robotic Teleoperation by : Claudio Pacchierotti

Download or read book Cutaneous Haptic Feedback in Robotic Teleoperation written by Claudio Pacchierotti and published by Springer. This book was released on 2015-11-06 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.

Haptics for Teleoperated Surgical Robotic Systems

Author : M. Tavakoli
Publisher : World Scientific
ISBN 13 : 9812813160
Total Pages : 179 pages
Book Rating : 4.8/5 (128 download)

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Book Synopsis Haptics for Teleoperated Surgical Robotic Systems by : M. Tavakoli

Download or read book Haptics for Teleoperated Surgical Robotic Systems written by M. Tavakoli and published by World Scientific. This book was released on 2008 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important obstacle in Minimally Invasive Surgery (MIS) is the significant degradation of haptic feedback (sensation of touch) to the surgeon about surgical instrument's interaction with tissue. This monograph is concerned with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. In terms of devices, novel mechanisms are designed including a surgical end-effector (slave) with full force sensing capabilities and a surgeon-robot interface (master) with full force feedback capabilities. Using the master-slave system, various haptic teleoperation control schemes are compared in terms of stability and performance, and passivity-based time delay compensation for haptic teleoperation over a long distance is investigated. The monograph also compares haptic feedback with visual feedback and with substitution for haptic feedback by other sensory cues in terms of surgical task performance. Sample Chapter(s). Introduction (1,826 KB). Contents: Introduction; Sensorized Surgical Effector (Slave); Haptic User Interface (Master); Unilateral Teleoperation Control; Bilateral Teleoperation Control; Substitution for Haptic Feedback: Bilateral Teleoperation Control Under Time Delay. Readership: Researchers in robotics, teleoperation, haptics, virtual reality, sensor technology, human machine interaction, and minimally invasive surgery and therapy.

Haptics-enabled Teleoperation for Robotics-assisted Minimally Invasive Surgery

Author : Ali Talasaz
Publisher :
ISBN 13 :
Total Pages : 304 pages
Book Rating : 4.:/5 (16 download)

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Book Synopsis Haptics-enabled Teleoperation for Robotics-assisted Minimally Invasive Surgery by : Ali Talasaz

Download or read book Haptics-enabled Teleoperation for Robotics-assisted Minimally Invasive Surgery written by Ali Talasaz and published by . This book was released on 2012 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lack of force feedback (haptics) in robotic surgery can be considered to be a safety risk leading to accidental tissue damage and puncturing of blood vessels due to excessive forces being applied to tissue and vessels or causing inefficient control over the instruments because of insufficient applied force. This project focuses on providing a satisfactory solution for introducing haptic feedback in robotics-assisted minimally invasive surgical (RAMIS) systems. The research addresses several key issues associated with the incorporation of haptics in a master-slave (teleoperated) robotic environment for minimally invasive surgery (MIS). In this project, we designed a haptics-enabled dual-arm (two masters - two slaves) robotic MIS testbed to investigate and validate various single-arm as well as dual-arm teleoperation scenarios. The most important feature of this setup is the capability of providing haptic feedback in all 7 degrees of freedom (DOF) required for RAMIS (3 translations, 3 rotations and pinch motion of the laparoscopic tool). The setup also enables the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution) and the hypothesis that surgical outcomes may be improved by substituting or augmenting haptic feedback by such sensory cues. To provide realistic haptic feedback, it is necessary to measure forces acting at the tip of the laparoscopic instruments in all appropriate directions, as well as when gripping, cutting or palpating tissue. In order to achieve this, we have incorporated two types of laparoscopic instruments in the testbed: A sensorized da Vinci tool, with the capability of measuring grasping forces provided by several strain gauges embedded in the tool shaft, and a customized instrument, the Tactile Sensing Instrument (TSI), which has been developed in our laboratory for soft-tissue palpation in RAMIS. Two surgical scenarios are considered in this project: Tumor localization in soft-tissue palpation, and endoscopic suturing. The first application is to localize tumors embedded in liver and lung tissue through the single-arm master-slave teleoperation system. Since the stiffness of a tumor is higher than that of healthy tissue, it can be distinguished as a hard nodule during remote palpation. Tactile sensing is a method that can be used in RAMIS to localize cancerous tumors prior to performing ablative therapies. However, its performance is highly dependent on the consistency of the exploration force. Using the customized tactile sensing instrument, the pressure distribution over the tissue is captured and provided as a color contour map on a screen. In order to apply the exploration force consistently over the tissue, different force feedback modalities are incorporated with tactile sensing feedback: Direct reflection of force feedback, visual presentation of interaction forces, and a fusion method utilizing an autonomous force control for the exploration force in the palpation direction and direct reflection of the force measured at the location of the tumor to the operator's fingers through the grasper mechanism of the haptic interface. The problem of incorporating haptic feedback in robot-assisted endoscopic suturing is explored as the next telesurgery scenario. The dual-arm teleoperation setup is used for this application. In order to assess the quality of suturing, we divide the suturing task into two phases: stitching and knot tying. Each phase consists of several well-specified sub-tasks. The experiments are performed in three modes: without force feedback, with visual force feedback and with direct force reflection to the user. Three levels are considered for the visual feedback presented to the user. The main objective of showing force in different levels is to assure the user that the force being applied on the suture is sufficient to end up with a secure knot. The main focus on this work is to explore which way of presenting force feedback can be more effectively used, and how each modality can help the user to increase the performance.

Tactile Sensing and Displays

Author : Javad Dargahi
Publisher : John Wiley & Sons
ISBN 13 : 1118357973
Total Pages : 287 pages
Book Rating : 4.1/5 (183 download)

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Book Synopsis Tactile Sensing and Displays by : Javad Dargahi

Download or read book Tactile Sensing and Displays written by Javad Dargahi and published by John Wiley & Sons. This book was released on 2012-11-06 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area

Human-Robot Body Experience

Author : Philipp Beckerle
Publisher : Springer Nature
ISBN 13 : 3030386880
Total Pages : 102 pages
Book Rating : 4.0/5 (33 download)

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Book Synopsis Human-Robot Body Experience by : Philipp Beckerle

Download or read book Human-Robot Body Experience written by Philipp Beckerle and published by Springer Nature. This book was released on 2021-06-01 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph presents innovative research regarding the body experience of human individuals who are using assistive robotic devices such as wearable robots or teleoperation systems. The focus is set on human-in-the-loop experiments that help to empirically evaluate how users experience devices. Moreover, these experiments allow for further examination of the underlying mechanisms of body experience through extending existing psychological paradigms, e.g., by disentangling tactile feedback from contacts. Besides reporting and discussing psychological examinations, the influence of various aspects of engineering design is investigated, e.g., different implementations of haptic interfaces or robot control. As haptics are of paramount importance in this tight type of human-robot interaction, it is explored with respect to modality as well as temporal and spatial effects. The first part of the book motivates the research topic and gives an in-depth analysis of the experimental requirements. The second and third part present experimental designs and studies of human-robot body experience regarding the upper and lower limbs as well as cognitive models to predict them. The fourth part discusses a multitude of design considerations and provides directions to guide future research on bidirectional human-machine interfaces and non-functional haptic feedback.

Human-Friendly Robotics 2023

Author : Cristina Piazza
Publisher : Springer Nature
ISBN 13 : 3031550005
Total Pages : 252 pages
Book Rating : 4.0/5 (315 download)

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Book Synopsis Human-Friendly Robotics 2023 by : Cristina Piazza

Download or read book Human-Friendly Robotics 2023 written by Cristina Piazza and published by Springer Nature. This book was released on with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Haptics: Science, Technology, Applications

Author : Hasti Seifi
Publisher : Springer Nature
ISBN 13 : 3031062493
Total Pages : 527 pages
Book Rating : 4.0/5 (31 download)

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Book Synopsis Haptics: Science, Technology, Applications by : Hasti Seifi

Download or read book Haptics: Science, Technology, Applications written by Hasti Seifi and published by Springer Nature. This book was released on 2022 with total page 527 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications. .

Haptics: Perception, Devices, Mobility, and Communication

Author : Poika Isokoski
Publisher : Springer
ISBN 13 : 9783642314001
Total Pages : 0 pages
Book Rating : 4.3/5 (14 download)

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Book Synopsis Haptics: Perception, Devices, Mobility, and Communication by : Poika Isokoski

Download or read book Haptics: Perception, Devices, Mobility, and Communication written by Poika Isokoski and published by Springer. This book was released on 2012-06-27 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book and its companion volume, LNCS 7282 and 7283, constitute the refereed proceedings of the 8th International Conference, EuroHaptics 2012, held in Tampere, Finland, in June 2012. The 99 papers (56 full papers, 32 short papers, and 11 demo papers) presented were carefully reviewed and selected from 153 submissions. Part I contains the full papers whereas Part II contains the short papers and the demo papers.

Haptic Interaction

Author : Shoichi Hasegawa
Publisher : Springer
ISBN 13 : 9811041571
Total Pages : 459 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Haptic Interaction by : Shoichi Hasegawa

Download or read book Haptic Interaction written by Shoichi Hasegawa and published by Springer. This book was released on 2017-07-06 with total page 459 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises the proceedings of the second International Conference, AsiaHaptics 2016, held in Kashiwanoha, Japan. The book treats the state of the art of the diverse haptics (touch)-related research, including scientific research of haptics perception and illusion, development of haptics devices, and applications to a wide variety of fields such as education, medicine, telecommunication, navigation, and entertainment. This work helps not only active haptic researchers, but also general readers to understand what is going on in this interdisciplinary area of science and technology.

Musical Haptics

Author : Stefano Papetti
Publisher : Springer
ISBN 13 : 3319583166
Total Pages : 290 pages
Book Rating : 4.3/5 (195 download)

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Book Synopsis Musical Haptics by : Stefano Papetti

Download or read book Musical Haptics written by Stefano Papetti and published by Springer. This book was released on 2018-05-02 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Open Access book offers an original interdisciplinary overview of the role of haptic feedback in musical interaction. Divided into two parts, part I examines the tactile aspects of music performance and perception, discussing how they affect user experience and performance in terms of usability, functionality and perceived quality of musical instruments. Part II presents engineering, computational, and design approaches and guidelines that have been applied to render and exploit haptic feedback in digital musical interfaces. Musical Haptics introduces an emerging field that brings together engineering, human-computer interaction, applied psychology, musical aesthetics, and music performance. The latter, defined as the complex system of sensory-motor interactions between musicians and their instruments, presents a well-defined framework in which to study basic psychophysical, perceptual, and biomechanical aspects of touch, all of which will inform the design of haptic musical interfaces. Tactile and proprioceptive cues enable embodied interaction and inform sophisticated control strategies that allow skilled musicians to achieve high performance and expressivity. The use of haptic feedback in digital musical interfaces is expected to enhance user experience and performance, improve accessibility for disabled persons, and provide an effective means for musical tuition and guidance.

Handbook of Robotic and Image-Guided Surgery

Author : Mohammad Abedin-Nasab
Publisher : Elsevier
ISBN 13 : 0128142464
Total Pages : 752 pages
Book Rating : 4.1/5 (281 download)

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Book Synopsis Handbook of Robotic and Image-Guided Surgery by : Mohammad Abedin-Nasab

Download or read book Handbook of Robotic and Image-Guided Surgery written by Mohammad Abedin-Nasab and published by Elsevier. This book was released on 2019-09-25 with total page 752 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of Robotic and Image-Guided Surgery provides state-of-the-art systems and methods for robotic and computer-assisted surgeries. In this masterpiece, contributions of 169 researchers from 19 countries have been gathered to provide 38 chapters. This handbook is 744 pages, includes 659 figures and 61 videos. It also provides basic medical knowledge for engineers and basic engineering principles for surgeons. A key strength of this text is the fusion of engineering, radiology, and surgical principles into one book. A thorough and in-depth handbook on surgical robotics and image-guided surgery which includes both fundamentals and advances in the field A comprehensive reference on robot-assisted laparoscopic, orthopedic, and head-and-neck surgeries Chapters are contributed by worldwide experts from both engineering and surgical backgrounds

Intelligent Technologies and Applications

Author : Filippo Sanfilippo
Publisher : Springer Nature
ISBN 13 : 3031105257
Total Pages : 436 pages
Book Rating : 4.0/5 (311 download)

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Book Synopsis Intelligent Technologies and Applications by : Filippo Sanfilippo

Download or read book Intelligent Technologies and Applications written by Filippo Sanfilippo and published by Springer Nature. This book was released on 2022-07-22 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Conference on Intelligent Technologies and Applications, INTAP 2021, held in Grimstad, Norway, October 11–13, 2021. The 33 full papers included in this book were carefully reviewed and selected from 243 submissions. They were organized in topical sections as follows: Intelligence, Decision support systems, IoT; Robotics; ML and AI for Intelligent Health, Applications of intelligent technologies in Emergency Management; Smart Electrical Energy Systems, AI and ML in Security; ML and AI for sensing technologies, Social Media Analytics; ML in energy sectors and materials; and Miscellaneous.

New Trends in Medical and Service Robots

Author : Hannes Bleuler
Publisher : Springer
ISBN 13 : 3319238329
Total Pages : 249 pages
Book Rating : 4.3/5 (192 download)

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Book Synopsis New Trends in Medical and Service Robots by : Hannes Bleuler

Download or read book New Trends in Medical and Service Robots written by Hannes Bleuler and published by Springer. This book was released on 2015-11-12 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: Medical and Service Robotics integrate the most recent achievements in mechanics, mechatronics, computer science, haptic and teleoperation devices together with adaptive control algorithms. The book includes topics such as surgery robotics, assist devices, rehabilitation technology, surgical instrumentation and Brain-Machine Interface (BMI) as examples for medical robotics. Autonomous cleaning, tending, logistics, surveying and rescue robots, and elderly and healthcare robots are typical examples of topics from service robotics. This is the Proceedings of the Third International Workshop on Medical and Service Robots, held in Lausanne, Switzerland in 2014. It presents an overview of current research directions and fields of interest. It is divided into three sections, namely 1) assistive and rehabilitation devices; 2) surgical robotics; and 3) educational and service robotics. Most contributions are strongly anchored on collaborations between technical and medical actors, engineers, surgeons and clinicians. Biomedical robotics and the rapidly growing service automation fields have clearly overtaken the “classical” industrial robotics and automatic control centered activity familiar to the older generation of roboticists.

The Handbook of Multimodal-Multisensor Interfaces, Volume 3

Author : Sharon Oviatt
Publisher : Morgan & Claypool
ISBN 13 : 1970001739
Total Pages : 813 pages
Book Rating : 4.9/5 (7 download)

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Book Synopsis The Handbook of Multimodal-Multisensor Interfaces, Volume 3 by : Sharon Oviatt

Download or read book The Handbook of Multimodal-Multisensor Interfaces, Volume 3 written by Sharon Oviatt and published by Morgan & Claypool. This book was released on 2019-06-25 with total page 813 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Handbook of Multimodal-Multisensor Interfaces provides the first authoritative resource on what has become the dominant paradigm for new computer interfaces-user input involving new media (speech, multi-touch, hand and body gestures, facial expressions, writing) embedded in multimodal-multisensor interfaces. This three-volume handbook is written by international experts and pioneers in the field. It provides a textbook, reference, and technology roadmap for professionals working in this and related areas. This third volume focuses on state-of-the-art multimodal language and dialogue processing, including semantic integration of modalities. The development of increasingly expressive embodied agents and robots has become an active test bed for coordinating multimodal dialogue input and output, including processing of language and nonverbal communication. In addition, major application areas are featured for commercializing multimodal-multisensor systems, including automotive, robotic, manufacturing, machine translation, banking, communications, and others. These systems rely heavily on software tools, data resources, and international standards to facilitate their development. For insights into the future, emerging multimodal-multisensor technology trends are highlighted in medicine, robotics, interaction with smart spaces, and similar areas. Finally, this volume discusses the societal impact of more widespread adoption of these systems, such as privacy risks and how to mitigate them. The handbook chapters provide a number of walk-through examples of system design and processing, information on practical resources for developing and evaluating new systems, and terminology and tutorial support for mastering this emerging field. In the final section of this volume, experts exchange views on a timely and controversial challenge topic, and how they believe multimodal-multisensor interfaces need to be equipped to most effectively advance human performance during the next decade.

Towards Autonomous Robotic Systems

Author : Abdelkhalick Mohammad
Publisher : Springer Nature
ISBN 13 : 3030634868
Total Pages : 414 pages
Book Rating : 4.0/5 (36 download)

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Book Synopsis Towards Autonomous Robotic Systems by : Abdelkhalick Mohammad

Download or read book Towards Autonomous Robotic Systems written by Abdelkhalick Mohammad and published by Springer Nature. This book was released on 2020-12-02 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume LNAI 12228 constitute the refereed proceedings of the 21th Annual Conference "Towards Autonomous Robotics," TAROS 20120, held in Nottingham, UK, in September 2020.* The 30 full papers and 11 short papers presented were carefully reviewed and selected from 63 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: soft and compliant robots; mobile robots; learning, mapping and planning; human-robot interaction; and robotic systems and applications. * The conference was held virtually due to the COVID-19 pandemic.

Intuitive Robot Teleoperation Based on Haptic Feedback and 3D Visualization

Author : Chen Yangjun
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (16 download)

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Book Synopsis Intuitive Robot Teleoperation Based on Haptic Feedback and 3D Visualization by : Chen Yangjun

Download or read book Intuitive Robot Teleoperation Based on Haptic Feedback and 3D Visualization written by Chen Yangjun and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Haptic Rendering

Author : Ming C. Lin
Publisher : CRC Press
ISBN 13 : 1439865140
Total Pages : 623 pages
Book Rating : 4.4/5 (398 download)

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Book Synopsis Haptic Rendering by : Ming C. Lin

Download or read book Haptic Rendering written by Ming C. Lin and published by CRC Press. This book was released on 2008-07-25 with total page 623 pages. Available in PDF, EPUB and Kindle. Book excerpt: For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments. This book provides an authoritative overview of state-of-theart haptic rendering algorithms