Abstract
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 × 18 mm × 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.
Original language | English |
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Pages (from-to) | 859-868 |
Number of pages | 10 |
Journal | Advanced Robotics |
Volume | 28 |
Issue number | 13 |
DOIs | |
State | Published - 3 Jul 2014 |
Keywords
- haptic
- normal force
- pneumatic actuator
- shear force
- surgical robot
- tactile display