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This study presents a novel approach to force feedback in robot-assisted surgery. It consists of substituting haptic stimuli, composed of a kinesthetic component and a skin deformation, with cutaneous stimuli only. The force generated can then be thought as a subtraction between the complete haptic interaction, cutaneous, and kinesthetic, and the kinesthetic part of it. For this reason, we refer to...
Force feedback systems have been developed to improve the user-friendliness of robotic surgery systems. In teleoperative surgery, one of the major problems is the delay of the transmission of the information from the operation site to the surgery site. The transmission delays of the control signal and force information are less than the that of the image signal. In many cases, the visual information...
The operator usually uses his hands to perform manipulation tasks. She has to feel the reaction forces in high-precision manipulation. The mechanism applied in the human interface device for force and tactile feedback is the most challenging (and usually the most expensive) part of a telepresence device. Bilateral control is a common solution in these systems. However, the coupled force and position...
A general effort in telemanipulation is to establish as many and as high quality sensory channels as possible between the human operator and the remote site. However, most of the tasks require only a portion of human sensory skills, typically - besides visual information - kinesthetic, haptic and tactile force-feedback. But realizing teleoperators providing transparent force-feedback over a long distance...
Traditional bilateral teleoperation communicates both motion and force information explicitly between master and slave devices. Any such closed loop architecture trades off performance with potential instability, especially when using force measurements of high inertia slaves contacting stiff environments. More conservatively, open-loop architectures avoid stability issues, transmitting motion commands...
In 2D microassembly applications, it is inevitable to position and orient polygonal micro-objects lying on a flat surface. Point contact pushing of micro-objects provides a feasible way to achieve the task and it is more flexible and less complex compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces, and tend to be unevenly...
In this paper, a haptically guided teleoperation system which is based on virtual attractive force is introduced. It is well known that haptic feedback can be used to enhance performance of teleoperation systems. When the end-effector is in contact with environment, force/torque sensors can be used to provide real haptic information to operators. Although it is not necessary to provide haptic information...
In teleoperation tasks, information about the relative posture between end-effector and the object to be grasped is of key importance for human operators. Although visual information plays a major role in monitoring collision and fun-tuning the end-effector towards the object, the operator should make strict observations about the video images to take precautions against collision between robot and...
In many microassembly applications, it is often desirable to position and orient polygonal micro-objects lying on a planar surface. Pushing micro-objects using point contact provides more flexibility and less complexity compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces and these forces are distributed unevenly, pushing...
This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing techniques and physically based modeling. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and a prior knowledge...
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