Enhancing the Performance of Passive Teleoperation Systems via Cutaneous Feedback

被引：35

作者：

Pacchierotti, Claudio ^{[1
,2
]}

Tirmizi, Asad ^{[1
]}

Bianchini, Gianni ^{[1
]}

Prattichizzo, Domenico ^{[1
,2
]}

机构：

[1] Univ Siena, Dept Informat Engn & Math, Via Roma 56, I-53100 Siena, Italy

[2] Ist Italiano Tecnol, Dept Adv Robot, I-16163 Genoa, Italy

来源：

IEEE TRANSACTIONS ON HAPTICS | 2015年 / 8卷 / 04期

关键词：

Telerobotics; haptics and haptic interfaces; stability; transparency; force and tactile sensing; cutaneous tactile force feedback; SENSORY SUBSTITUTION; FORCE FEEDBACK; TRANSPARENCY; SUBTRACTION; PERCEPTION;

D O I：

10.1109/TOH.2015.2457927

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

We introduce a novel method to improve the performance of passive teleoperation systems with force reflection. It consists of integrating kinesthetic haptic feedback provided by common grounded haptic interfaces with cutaneous haptic feedback. The proposed approach can be used on top of any time-domain control technique that ensures a stable interaction by scaling down kinesthetic feedback when this is required to satisfy stability conditions (e.g., passivity) at the expense of transparency. Performance is recovered by providing a suitable amount of cutaneous force through custom wearable cutaneous devices. The viability of the proposed approach is demonstrated through an experiment of perceived stiffness and an experiment of teleoperated needle insertion in soft tissue.

引用

页码：397 / 409

页数：13

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