Force feedback control is investigated for improving the quality of the haptic feedback in virtual reality applications. Advanced control design can increase the transparency of the haptic device at the haptic interface thereby increasing the realism of the simulation. Force feedback also enables the implementation of admittance control approaches heretofore considered the domain of large robot...

A new type of master-slave control methodology, which has the merits of both unilateral and bilateral ones, is proposed. The methodology is built on switching the unilateral feedback controls of position and force as required using switching and elastic elements. Proposed methodology not only eliminates the demerits of bilateral control, but also supplies the mechanical force feedback to the op...

In daily life humans integrate force and position feedback from mechanoreceptors, proprioception, and vision. With handling relatively soft, elastic objects, force and position are related and can be integrated to improve the accuracy of an estimate of either one. Sensory weighting between different sensory systems (e.g., vision and proprioception) has been extensively studied. This study inves...

For smooth and efficient motor control, the brain needs to make fast corrections during the movement to resist possible perturbations. It also needs to adapt subsequent movements to improve future performance. It is important that both feedback corrections and feedforward adaptation need to be made based on noisy and often ambiguous sensory data. Therefore, the initial response of the motor sys...

BACKGROUND Providing augmented visual feedback is one way to enhance robot-assisted surgery (RAS) training. However, it is unclear whether task specificity should be considered when applying augmented visual feedback. METHODS Twenty-two novice users of the da Vinci Surgical System underwent testing and training in 3 tasks: simple task, bimanual carrying (BC); intermediate task, needle passing...

Teleoperated assistive robots with compliant arms may be wellsuited to tasks that require contact with people and operation within human environments. However, little is known about the effects of force feedback and compliance on task performance. In this paper, we present a pilot study that we conducted to investigate the effects of force feedback and arm compliance on the performance of a sim...