Journal
IEEE TRANSACTIONS ON HAPTICS
Volume 2, Issue 1, Pages 52-56Publisher
IEEE COMPUTER SOC
DOI: 10.1109/ToH.2008.19
Keywords
Surgical robotics; tactile display; haptic system design and analysis; robotic minimally invasive surgery; haptic perception; haptic real-time control; tactile feedback; haptic human performance; telemanipulation
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Funding
- Telemedicine and Advanced Technology Research Center (TATRC)/US Department of Defense [W81XWH-05-2-0024]
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A multielement tactile feedback (MTF) system has been developed to translate the force distribution, in magnitude and position, from 3 x 2 sensor arrays on surgical robotic end effectors to the fingers via 3 x 2 balloon tactile displays. High detection accuracies from perceptual tests (> 96 percent) suggest that MTF may be an effective means to improve robotic control.
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