Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

CiteULike is a free service for managing and discovering scholarly references - click here to get started.

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Web of Science (2)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by De Gersem, G.
Right arrow Articles by Tendick, F.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Reliable and Enhanced Stiffness Perception in Soft-tissue Telemanipulation

G. De Gersem

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium, Hendrik.

H. Van Brussel

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium, Hendrik VanBrussel{at}mech.kuleuven.be

F. Tendick

Department of Surgery, University of California, San Francisco, CA, USA

Haptic feedback is one of the missing links in robotized minimally invasive telesurgery. The teleoperation controllers are optimized so as to offer the surgeon a reliable perception of the stiffness of soft tissue, rather than following the traditional approach where tracking and force reflection fidelity are considered. The experimental results show that optimization allows for better focus on the quality of the haptic information in the performance-stability trade-off. A force sensor to measure the interaction forces with the environment is found to be indispensable for high-quality touch feedback. Next to optimization for realistic feedback of the environment stiffness, in this paper we describe how to extend human perception beyond differential thresholds and thus enhance sensitivity. Experiments on a one-dimensional system demonstrate that the operator is able to discriminate tinier differences using a telemanipulation system with enhanced sensitivity than through direct manipulation.

Key Words: teleoperation • force feedback

The International Journal of Robotics Research, Vol. 24, No. 10, 805-822 (2005)
DOI: 10.1177/0278364905057861
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
L. Barbe, B. Bayle, M. de Mathelin, and A. Gangi
In Vivo Model Estimation and Haptic Characterization of Needle Insertions
The International Journal of Robotics Research, November 1, 2007; 26(11-12): 1283 - 1301.
[Abstract] [PDF]