Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback

2004 ◽  
Author(s):  
W. Semere ◽  
M. Kitagawa ◽  
A.M. Okamura
Keyword(s):  
Task Performance ◽  
Force Feedback ◽  
Sensor Actuator

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.

scholarly journals Influence of Force and Torque Feedback on Operator Performance in a VR-Based Suturing Task

2010 ◽  
Vol 7 (3) ◽  
pp. 217-230 ◽  
Author(s):  
L. Santos-Carreras ◽  
R. Beira ◽  
A. Sengül ◽  
R. Gassert ◽  
H. Bleuler
Keyword(s):  
Task Performance ◽  
Open Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Surgical Care ◽  
Medical Background ◽  
Technological Advances ◽  
Robotic Surgical System ◽  
Surgical System

The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an approach, paving the way for even less invasive surgical trends. However, the fact that haptic feedback has been progressively lost through this transition is an issue that to date has not been solved. Whereas traditional open surgery provides full haptic feedback, the introduction of MIS has eliminated the possibility of direct palpation and tactile exploration. Nevertheless, these procedures still provide a certain amount of force feedback through the rigid laparoscopic tool. Many of the current telemanipulated robotic surgical systems in return do not provide full haptic feedback, which to a certain extent can be explained by the requirement of force sensors integrated into the tools of the slave robot and actuators in the surgeon’s master console. In view of the increased complexity and cost, the benefit of haptic feedback is open to dispute. Nevertheless, studies have shown the importance of haptic feedback, especially when visual feedback is unreliable or absent. In order to explore the importance of haptic feedback for the surgeon’s master console of a novel teleoperated robotic surgical system, we have identified a typical surgical task where performance could potentially be improved by haptic feedback, and investigate performance with and without this feedback. Two rounds of experiments are performed with 10 subjects, six of them with a medical background. Results show that feedback conditions, including force feedback, significantly improve task performance independently of the operator’s suturing experience. There is, however, no further significant improvement when torque feedback is added. Consequently, it is deduced that force feedback in translations improves subject’s dexterity, while torque feedback might not further benefit such a task.

scholarly journals Effects of visual force feedback on robot-assisted surgical task performance

2008 ◽  
Vol 135 (1) ◽  
pp. 196-202 ◽  
Author(s):  
Carol E. Reiley ◽  
Takintope Akinbiyi ◽  
Darius Burschka ◽  
David C. Chang ◽  
Allison M. Okamura ◽  
...  
Keyword(s):  
Task Performance ◽  
Force Feedback ◽  
Robot Assisted ◽  
Visual Force Feedback

An Experimental Study of Haptic Feedback in a Teleoperated Assembly Task

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Göran A. V. Christiansson
Keyword(s):  
Task Performance ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Human Subjects ◽  
Low Frequency ◽  
Contact Forces ◽  
Task Completion ◽  
Mental Load ◽  
Assembly Task ◽  
Haptic Cues

Haptic feedback is known to improve teleoperation task performance for a number of tasks, and one important question is which haptic cues are the most important for each specific task. This research quantifies human performance in an assembly task for two types of haptic cues: low-frequency (LF) force feedback and high-frequency (HF) force feedback. A human subjects study was performed with those two main factors: LF force feedback on/off and HF force (acceleration) feedback on/off. All experiments were performed using a three degree-of-freedom teleoperator where the slave device has a low intrinsic stiffness, while the master device on the other hand is stiff. The results show that the LF haptic feedback reduces impact forces, but does not influence low-frequency contact forces or task completion time. The HF information did not improve task performance, but did reduce the mental load of the teleoperator, but only in combination with the LF feedback.

Effects of Concurrent Manual Task Performance on Connected Speech Acoustics in Individuals With Parkinson Disease

2019 ◽  
Vol 62 (7) ◽  
pp. 2099-2117 ◽  
Author(s):  
Jason A. Whitfield ◽  
Zoe Kriegel ◽  
Adam M. Fullenkamp ◽  
Daryush D. Mehta
Keyword(s):  
Task Performance ◽  
Speech Production ◽  
Dual Task ◽  
Motor Task ◽  
Task Condition ◽  
Connected Speech ◽  
Speech Acoustics ◽  
Single Task ◽  
Manual Task ◽  
Task Conditions

Purpose Prior investigations suggest that simultaneous performance of more than 1 motor-oriented task may exacerbate speech motor deficits in individuals with Parkinson disease (PD). The purpose of the current investigation was to examine the extent to which performing a low-demand manual task affected the connected speech in individuals with and without PD. Method Individuals with PD and neurologically healthy controls performed speech tasks (reading and extemporaneous speech tasks) and an oscillatory manual task (a counterclockwise circle-drawing task) in isolation (single-task condition) and concurrently (dual-task condition). Results Relative to speech task performance, no changes in speech acoustics were observed for either group when the low-demand motor task was performed with the concurrent reading tasks. Speakers with PD exhibited a significant decrease in pause duration between the single-task (speech only) and dual-task conditions for the extemporaneous speech task, whereas control participants did not exhibit changes in any speech production variable between the single- and dual-task conditions. Conclusions Overall, there were little to no changes in speech production when a low-demand oscillatory motor task was performed with concurrent reading. For the extemporaneous task, however, individuals with PD exhibited significant changes when the speech and manual tasks were performed concurrently, a pattern that was not observed for control speakers. Supplemental Material https://doi.org/10.23641/asha.8637008

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