Cutaneous Haptic Feedback In Robotic Teleoperation
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Cutaneous Haptic Feedback In Robotic Teleoperation
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Author : Claudio Pacchierotti
language : en
Publisher: Springer
Release Date : 2015-11-06
Cutaneous Haptic Feedback In Robotic Teleoperation written by Claudio Pacchierotti and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-06 with Computers categories.
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
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Author : M. Tavakoli
language : en
Publisher: World Scientific
Release Date : 2008
Haptics For Teleoperated Surgical Robotic Systems written by M. Tavakoli and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Medical categories.
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 systems, 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.
Haptics For Teleoperated Surgical Robotic Systems
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Author :
language : en
Publisher:
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Haptics For Teleoperated Surgical Robotic Systems written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.
Tactile Sensing And Displays
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Author : Javad Dargahi
language : en
Publisher: John Wiley & Sons
Release Date : 2012-11-06
Tactile Sensing And Displays written by Javad Dargahi and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-11-06 with Science categories.
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
Haptic Feedback Teleoperation Of Optical Tweezers
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Author : Zhenjiang Ni
language : en
Publisher: John Wiley & Sons
Release Date : 2014-09-25
Haptic Feedback Teleoperation Of Optical Tweezers written by Zhenjiang Ni and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-09-25 with Technology & Engineering categories.
The authors of this book provide the first review of haptic optical tweezers, a new technique which brings together force feedback teleoperation and optical tweezers. This technique allows users to explore the microworld by sensing and exerting piconewton-scale forces with trapped microspheres. The design of optical tweezers for high-quality haptic feedback is challenging, given the requirements for very high sensitivity and dynamic stability. The concept, design process and specification of optical tweezers reviewed throughout this book focus on those intended for haptic teleoperation. The authors provide two new specific designs as well as the current state of the art. Furthermore, the remaining important issues are identified for further developments. Haptic optical tweezers will soon become an invaluable tool for force feedback micromanipulation of biological samples and nano- and micro-assembly parts.
Human Robot Body Experience
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Author : Philipp Beckerle
language : en
Publisher: Springer Nature
Release Date : 2021-06-01
Human Robot Body Experience written by Philipp Beckerle and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-06-01 with Computers categories.
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
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Author : Cristina Piazza
language : en
Publisher: Springer Nature
Release Date :
Human Friendly Robotics 2023 written by Cristina Piazza and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.
Haptics Science Technology Applications
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Author : Hasti Seifi
language : en
Publisher: Springer Nature
Release Date : 2022
Haptics Science Technology Applications written by Hasti Seifi and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with Haptic devices categories.
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. .
Haptic Interaction
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Author : Shoichi Hasegawa
language : en
Publisher: Springer
Release Date : 2017-07-06
Haptic Interaction written by Shoichi Hasegawa and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-06 with Technology & Engineering categories.
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.
Haptics For Virtual Reality And Teleoperation
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Author : Matjaž Mihelj
language : en
Publisher: Springer
Release Date : 2012-12-14
Haptics For Virtual Reality And Teleoperation written by Matjaž Mihelj and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-14 with Technology & Engineering categories.
This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation. The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. Only a careful selection of different kinematic configurations is shown to introduce the reader into this field. Mathematical models of virtual environment, collision detection and force rendering topics are strongly interrelated and are described in the next two chapters. The interaction with the virtual environment is simulated with a haptic interface. Impedance and admittance based approaches to haptic robot control are presented. Stability issues of haptic interaction are analyzed in details and solutions are proposed for guaranteeing stable and safe operation. Finally, haptic interaction is extended to teleoperation systems. Virtual fixtures which improve the teleoperation and human-robot cooperation in complex environments are covered next and the last chapter presents nanomanipulation as one specific example of teleoperation.