The effect of sensor/actuator asymmetries in haptic interfaces

Barbagli, Federico; Salisbury, Kenneth

doi:10.1109/haptic.2003.1191258

Cited by 36 publications

(24 citation statements)

References 12 publications

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“…Barbagli and Salisbury [1] examined sensor/actuator asymmetries in haptic devices for virtual environments. For telemanipulators, sensor/actuator asymmetries occur when the number of sensors on the slave device are not equal to the number of actuators in the master device.…”

Section: Related Workmentioning

confidence: 99%

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Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Verner

Okamura

2007

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07

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Many high-degree-of-freedom haptic devices and teleoperator systems either do not have grippers or do not provide force feedback in the gripper degree of freedom (DOF). The purpose of this work is to determine the effect of gripper force feedback in relation to Cartesian (translational) force feedback on the execution of telemanipulation tasks. We developed a system for adding an additional DOF of grip force feedback on a 3-DOF Phantom haptic device master, as well as 6-DOF force/torque sensing on each "finger" of a coupled gripper on a Phantom haptic device slave. The internal (grip) and external (translational) forces were measured as users performed a soft peg-in-hole task with various DOFs of force feedback: (1) full force feedback, (2) translational force feedback only, (3) grip force feedback only, and (4) no force feedback. Results show that the level of force applied in the translational and gripping DOFs are decoupled for a 3-DOF telemanipulator with added grip force feedback. This is likely due to the decoupled dynamics of internal and external hand forces.

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Section: Related Workmentioning

confidence: 99%

“…In another mechanism for adding grip force feedback to Phantom devices [1], the weight of the motor is at the distal end of the device. The location and the larger counter-weight required for that device significantly adds to the effective inertia of the Phantom and limits transparency.…”

Section: Gripper Designmentioning

confidence: 99%

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Verner

Okamura

2007

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07

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“…The addition of these extra three DOF implies the integration of three more actuators and sensors that considerably increases both inertia and controller complexity and frequently results in a loss of transparency (Barbagli and Salisbury 2003). In order to reduce complexity while keeping the full number of DOF (six or seven per hand), force feedback can be realised only in a subset of the DOF, usually for the translational forces.…”

Section: Introductionmentioning

confidence: 99%

“…In their pioneering work, Barbagli and Salisbury (2003) considered the effect of sensor/actuator asymmetries in haptic devices. Their results reveal that sensor/actuator asymmetry may lead to non-conservative forces in specific situations, reducing the realism of Virtual Reality (VR)-based devices.…”

Section: Introductionmentioning

confidence: 99%

Influence of Force and Torque Feedback on Operator Performance in a VR‐Based Suturing Task

Santos-Carreras¹,

Beira²,

Sengül³

et al. 2010

Applied Bionics and Biomechanics

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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.

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“…This generally necessitates low motor reduction ratios and efficient transmission elements. Performance may also be optimized trading off the number of actuated and sensed degrees of freedom (DOF) based on the expected application [2].…”

Section: Introductionmentioning

confidence: 99%

The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering

Diolaiti

Niemeyer

Barbagli

et al.

First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

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The effect of sensor/actuator asymmetries in haptic interfaces

Abstract: Abstract

Cited by 36 publications

References 12 publications

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Effects of Translational and Gripping Force Feedback are Decoupled in a 4-Degree-of-Freedom Telemanipulator

Influence of Force and Torque Feedback on Operator Performance in a VR‐Based Suturing Task

The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering

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