Training in divergent and convergent force fields during 6-DOF teleoperation with a robot-assisted surgical system

Coad, Margaret M.; Okamura, Allison M.; Wren, Sherry M.; Mintz, Yoav; Lendvay, Thomas S.; Jarc, Anthony; Nisky, Ilana

doi:10.1109/whc.2017.7989900

Cited by 29 publications

(18 citation statements)

References 35 publications

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“…In contrast, the attractive mode proved to be more intuitive for initiating left and right wrist rotations [33]; in the wrist guidance in 2-D space, the "pull" approach (attractive) allows participants to perform better with respect to the "push" mapping (repulsive) [34]. Furthermore, in a recent study on the training in divergent (repulsive) and convergent (attractive) force field during teleoperation with a robot-assisted surgical system, a better performance of the repulsive field was highlighted throughout the training, even though no significant differences were found at the end of the experiments [35].…”

mentioning

confidence: 99%

An Experimental Setup to Test Dual-Joystick Directional Responses to Vibrotactile Stimuli

Scalera

Seriani

Gallina

et al. 2018

IEEE Trans. Haptics

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Abstract-In this paper we investigate the influence of the location of vibrotactile stimulation in triggering the response made using two handheld joysticks. In particular, we compare performance with stimuli delivered either using tactors placed on the palm or on the back of the hand and with attractive (move toward the vibration) or repulsive prompts (move away from the vibration). The experimental set-up comprised two joysticks and two gloves, each equipped with four pager motors along the cardinal directions. In different blocks, fifty-three volunteers were asked to move the joysticks as fast as possible either towards or away with respect to the direction specified by a set of vibrating motors. Results indicate that participants performed better with attractive prompts (i.e. responses were faster and with fewer errors in conditions where participants were asked to move the joysticks in the direction of the felt vibration) and that the stimulation delivered on the back of the hand from the gloves gives better results than the stimulation on the palm delivered by the joysticks. Finally, we analyse the laterality, the relation between correct responses and reaction times, the direction patterns for wrong responses and we perform an analysis on the Stimulus-Response Compatibility and on the training effect.

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mentioning

confidence: 99%

An Experimental Setup to Test Dual-Joystick Directional Responses to Vibrotactile Stimuli

Scalera

Seriani

Gallina

et al. 2018

IEEE Trans. Haptics

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“…The guidance hypothesis [13] confirms that the guiding properties of augmented feedback are beneficial for motor learning when knowledge about the outcome is used to correct errors and improve subsequent performance, but detrimental when guiding affects processes important for learning. For example, practice with a high frequency of augmented feedback can affect learning by excessive reliance on external cues [12]. According to Schmidt [13], dependency on the robotic assistance can be addressed by gradually decreasing the guidance constraints intensity as the user learns.…”

Section: Related Workmentioning

confidence: 99%

“…Few works instead have found significant benefits of a simulated environment that enhance a training process with augmented forces [9], such as guidance constrain. The performance of attractive force applied to the robotic tool getting away from the constrained have been judged beneficial [10], null [11] and even detrimental [12].…”

Section: Introductionmentioning

confidence: 99%

Surgeon Training with Haptic Devices for Computer and Robot Assisted Surgery: An Experimental Study

et al. 2019

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Development of robot-assisted minimally invasive surgery increasingly demands for efficient training methods. This paper describes an experiment exploring the use of haptic interaction for the purpose of skill training (haptic training). Various experiment tasks that include simple and complex tool paths have been developed for this purpose. 105 acquisition sessions distributed in 7 different tasks from 27 naive subjects and one surgeon performed teleoperated exercises with Omni Phantom. Task's learning curves with and without robotic assistance and effects of damping have been discussed. For the force guidance case, assistance level gradually decreased the applied force as the training progressed. In the controversial scenario of robotic assistance for motorlearning benefits, this study shows such assistance improve the rate of learning for both simple and complex tasks.

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“…This paper presents the integration and test of a cable-driven haptic guidance in the FlyJacket. This work is motivated by several results showing that haptic feedback improves the task performance in many domains such as for surgery [7], rehabilitation [8] or sports [9], [10]. Haptic feedback has been implemented as a force feedback on joysticks to control flight for obstacles avoidance [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

“…proportional-derivative control) on the error between the robot position and a reference trajectory are typically used [7], [8], [16][17][18]. The stiffness of the guidance is a very important feature because a too soft guidance may not be effective while a too strong guidance may lead to user passivity [16], [17], [19].…”

Section: Introductionmentioning

confidence: 99%

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Rognon

Mintchev

et al. 2018

Haptics: Science, Technology, and Applications

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Abstract.Haptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we developed a suit to control drones with upper body movement, called the FlyJacket. In this paper, we present the integration of a cable-driven haptic guidance in the FlyJacket. The aim of the device is to apply a force relative to the distance between the drone and a predetermined trajectory to correct user torso orientation and improve the flight precision. Participants (n=10) flying a simulated fixed-wing drone controlled with torso movements tested four different guidance profiles (three linear profiles with different stiffness and one quadratic). Our results show that a quadratically shaped guidance, which gives a weak force when the error is small and a strong force when the error becomes significant, was the most effective guidance to improve the performance. All participants also reported through questionnaires that the haptic guidance was useful for flight control.

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Training in divergent and convergent force fields during 6-DOF teleoperation with a robot-assisted surgical system

Cited by 29 publications

References 35 publications

An Experimental Setup to Test Dual-Joystick Directional Responses to Vibrotactile Stimuli

An Experimental Setup to Test Dual-Joystick Directional Responses to Vibrotactile Stimuli

Surgeon Training with Haptic Devices for Computer and Robot Assisted Surgery: An Experimental Study

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

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