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

Soo Chul Lim, Hyung Kew Lee, Eunhyup Doh, Kwang Seok Yun, Joonah Park

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

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 languageEnglish
Pages (from-to)859-868
Number of pages10
JournalAdvanced Robotics
Volume28
Issue number13
DOIs
StatePublished - 3 Jul 2014

Keywords

  • haptic
  • normal force
  • pneumatic actuator
  • shear force
  • surgical robot
  • tactile display

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