Tactile sensing system including bidirectionality and enhancement of haptic perception by tactile feedback to distant part

Abstract

Haptic perception is bidirectionally related to the exploratory movements. This means that exploration influences perception, but also perception influences exploration. We can optimize/change the exploratory movements according to the perception and/or the task, consciously or unconsciously. In this paper, a tactile sensing system including bidirectionality is proposed and its potential and application to laparoscopic surgery are discussed. The proposed system is composed of a tactile sensor and a tactile display. The tactile sensor is mounted on a forceps, and the tactile feedback based on the sensor output is provided by using the tactile display. The user can feel sensor outputs and adjust the forceps manipulation according to the environment and the target. This leads to collect adequate sensor outputs. Implementing the bidirectionality gets the most out of the capability of the tactile sensor. Furthermore, the developed system might have an additional effect due to using the tactile display to the other hand, not to the hand with the forceps. It is an enhancement of haptic perception by tactile feedback to distant part. The developed system is introduced and establishment of the bidirectionality and its effect are discussed. Psychophysical experiments on the enhancing effect are conducted. Experimental results show a potential of the proposed tactile sensing system.

Simple Tactile Technologies Utilizing Human Tactile and Haptic Characteristics

“…However, as a different approach, Tanaka et al proposed a tactile sensor system that includes haptic bidirectionality for laparoscopic surgery [34]. Figure 15.9 shows the basic idea of the system.…”

“…An arm-mounted tactile display using a servomotor [36] and a ground-based tactile display for the other hand using a voice coil motor [34] provide the tactile display, as shown in Fig. 15.11.…”

Tactile sensing system using electro-tactile feedback

“…For example, Tanaka et al [6] established a bidirectional system which used the piezo material as a sensor to detect bumps together with a speaker as a feedback actuator. With this system, the user feels the vibration of the speaker when the sensor detects a bump in the sensed surface.…”

A study on tactile display for haptic sensing system with sensory feedback for laparoscopic surgery

“…This bidirectionality contributes to the human haptic capability. Thus, we have developed a haptic sensing system including human's haptic bidirectionality for tumor detection on the stomach wall in the laparoscopic surgery [1]. The system has a tactile sensor and a tactile display.…”

“…In our previous work, a simple and electrical-safe forceps-shaped tactile sensor was developed [2]. However, our prototype of the system has required both hands for the tactile sensor and the tactile display [1]. The practical application demands to implement a tactile display to the hand having a tactile sensor.…”