User-interface for teleoperation with mixed-signal haptic feedback
Daniel B. Thiem, Carsten Neupert, Johannes Bilz, Sebastian Matich, Julian Polzin, Roland Werthschützky, Mario Kupnik, Helmut F. Schlaak
Abstract
Haptic feedback for minimally invasive surgery is a widely debated topic, especially force sensors for this kind of application are thoroughly researched. The current state-of-the-art includes several realization options, but none of them are suitable to be integrated in small diameter instruments. In this work, we present a new approach for the generation of haptic feedback by using two separate feedback mechanisms for spatial kinesthetic and unidirectional tactile feedback in a teleoperation system with a parallel kinematic slave robot and the design of the corresponding user interfaces. Kinesthetic forces are measured with proximal sensors in the robot kinematic and displayed with a delta-type kinematic mechanism. Tactile signals are acquired with an acceleration sensor placed closely at the tip of the robot manipulator and conveyed open-loop by a vibrating cylinder to the user's palm. Kinesthetic forces up to 15 N can be displayed up to a frequency of 50 Hz. The tactile interface displays accelerations up to 15m/s for frequencies from 50 Hz to 1000 Hz. The combination of the two interfaces allows the display of high-fidelity haptic feedback with greatly reduced requirements on the interface components.
BibTeX
@inproceedings{iros2017_userinterfacefor,
title = {User-interface for teleoperation with mixed-signal haptic feedback},
author = {Daniel B. Thiem and Carsten Neupert and Johannes Bilz and Sebastian Matich and Julian Polzin and Roland Werthschützky and Mario Kupnik and Helmut F. Schlaak and Andreas Kirschniak and Markus Hessinger and Christian Hatzfeld},
booktitle = {IROS 2017},
year = {2017}
}