Tactile display with tangential and normal skin displacement for robot-assisted surgery

被引：8

作者：

Lim, Soo-Chul ^{[1
]}

Lee, Hyung-Kew ^{[1
]}

Doh, Eunhyup ^{[2
]}

Yun, Kwang-Seok ^{[2
]}

Park, Joonah ^{[1
]}

机构：

[1] Samsung Adv Inst Technol SAIT, Adv Media Lab, Yongin 446712, Gyeonggi Do, South Korea

[2] Sogang Univ, Dept Elect Engn, Seoul 121742, South Korea

来源：

ADVANCED ROBOTICS | 2014年 / 28卷 / 13期

关键词：

tactile display; shear force; normal force; pneumatic actuator; haptic; surgical robot; FORCE FEEDBACK; FINGERTIP;

D O I：

10.1080/01691864.2014.896066

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18 mm x 18 mm x 15 mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3 mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions.

引用

页码：859 / 868

页数：10

共 28 条

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