Cutaneous Haptic Feedback In Robotic Teleoperation

Author : Claudio Pacchierotti
Publisher : Springer
ISBN 13 : 331925457X
Total Pages : 142 pages
Book Rating : 4.79/5 ( download)

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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 142 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.

Author :
Publisher :
ISBN 13 : 9814471275
Total Pages : pages
Book Rating : 4.75/5 ( download)

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Download or read book Haptics for Teleoperated Surgical Robotic Systems written by and published by . This book was released on with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Author : M. Tavakoli
Publisher : World Scientific
ISBN 13 : 9812813160
Total Pages : 179 pages
Book Rating : 4.69/5 ( download)

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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.

Author : Javad Dargahi
Publisher : John Wiley & Sons
ISBN 13 : 1118357973
Total Pages : 287 pages
Book Rating : 4.72/5 ( download)

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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

Author : Philipp Beckerle
Publisher : Springer Nature
ISBN 13 : 3030386880
Total Pages : 102 pages
Book Rating : 4.87/5 ( download)

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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.

Author : Cristina Piazza
Publisher : Springer Nature
ISBN 13 : 3031550005
Total Pages : 252 pages
Book Rating : 4.03/5 ( download)

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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:

Author : Poika Isokoski
Publisher : Springer
ISBN 13 : 9783642314001
Total Pages : 0 pages
Book Rating : 4.07/5 ( download)

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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.

Author : Hasti Seifi
Publisher : Springer Nature
ISBN 13 : 3031062493
Total Pages : 527 pages
Book Rating : 4.90/5 ( download)

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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. .

Author : Shoichi Hasegawa
Publisher : Springer
ISBN 13 : 9811041571
Total Pages : 503 pages
Book Rating : 4.70/5 ( download)

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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 503 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.

Author : Ming C. Lin
Publisher : CRC Press
ISBN 13 : 1439865140
Total Pages : 623 pages
Book Rating : 4.49/5 ( download)

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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