The effect of force feedback on remote palpation

Combining teletaction systems with telemanipulation systems promises to enhance task performance when interacting with remote environments. However, the force scaling inherent in the telemanipulation system affects the ability of the user to control the exploration force. The quality of the tactile signal is therefore impacted, affecting performance in tasks that benefit from spatially distributed force information. We compare performance localizing an embedded lump in a compliant environment using a telemanipulated teletaction system versus a directly manipulated teletaction system. Lump localization accuracy was found to be the same; however, time required to localize the lump was up to 150% longer for the telemanipulation trials. Based upon our results, we conclude that the ability to maintain an appropriate force in the remote environment is necessary to take full advantage of the spatially distributed force information from the tactile sensor.

[1]  Ronald S. Fearing,et al.  Some basic issues in teletaction , 1997, Proceedings of International Conference on Robotics and Automation.

[2]  R. S. Fearing,et al.  Tactile Sensing Mechanisms , 1990, Int. J. Robotics Res..

[3]  J. Edward Colgate.  Power and impedance scaling in bilateral manipulation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[4]  Blake Hannaford,et al.  A detailed model of bi-lateral teleoperation , 1988, Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics.

[5]  R. Johansson,et al.  Coordinated isometric muscle commands adequately and erroneously programmed for the weight during lifting task with precision grip , 2004, Experimental Brain Research.

[6]  Ronald S. Fearing,et al.  A surface micromachined microtactile sensor array , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  Christopher R. Wagner,et al.  Spatial low pass filters for pin actuated tactile displays , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[8]  Rawle A. Seupaul,et al.  Physical Examination of the Liver , 2005 .

[9]  Robert D. Howe,et al.  A tactile sensor for localizing transient events in manipulation , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[10]  C A Pilgrim,et al.  Achieving competence in clinical breast examination. , 1993, Nurse practitioner forum.

[11]  Yunhui Liu,et al.  An integrated tactile feedback system for multifingered robot hands , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[12]  Christopher R. Wagner,et al.  A compliant tactile display for teletaction , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[13]  Rieko Osu,et al.  Short- and long-term changes in joint co-contraction associated with motor learning as revealed from surface EMG. , 2002, Journal of neurophysiology.

[14]  Nikolaos G. Tsagarakis,et al.  An integrated tactile/shear feedback array for stimulation of finger mechanoreceptor , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[15]  Thomas B. Sheridan,et al.  Telerobotics, Automation, and Human Supervisory Control , 2003 .

[16]  Susan J. Lederman,et al.  Sensing and Displaying Spatially Distributed Fingertip Forces in Haptic Interfaces for Teleoperator and Virtual Environment Systems , 1999, Presence: Teleoperators & Virtual Environments.

[17]  Frank Tendick,et al.  A Critical Study of the Mechanical and Electrical Properties of the PHANToM Haptic Interface and Improvements for Highperformance Control , 2002, Presence: Teleoperators & Virtual Environments.

[18]  P. Akella,et al.  Scaled bilateral telemanipulation: an experimental investigation of scaling laws , 1995, Other Conferences.

[19]  Christopher R. Wagner,et al.  Compliant background subtraction algorithms for tactile rendering , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[20]  Susan J. Lederman,et al.  Design and Performance of a Tactile Shape Display Using RC Servomotors (Short Paper) , 2004 .

[21]  Robert D. Howe,et al.  Tactile sensing and control of robotic manipulation , 1993, Adv. Robotics.

[22]  Robert D. Howe,et al.  Remote palpation technology , 1995 .

[23]  Camilla K. L. Lau,et al.  Algorithms for Tactile Rendering in Compliant Environments , 2004 .

[24]  C. R. Wagner,et al.  DESIGN AND PERFORMANCE OF A TACTILE SHAPE DISPLAY USING RC SERVOMOTORS , 2003 .

[25]  Pennypacker Hs,et al.  Achieving competence in clinical breast examination. , 1993 .