A distributed telerobotic system consists of a client station (operator) and a server station (slave arm) interconnected by a computer network. The system is evaluated using (1) pegin-hole insertion, and (2) assembly of a small water pump. Direct teleoperation is evaluated using following schemes: (1) stereo vision, (2) vision and force feedback, and (3) vision with active compliance. Space ind...

Discharge patterns from a population of motor units (MUs) were estimated with multi-channel surface electromyogram and signal processing techniques to investigate parametric differences in low-frequency force fluctuations, MU discharges, and force-discharge relation during static force-tracking with varying sizes of execution error presented via visual feedback. Fourteen healthy adults produced...

This paper describes a technical solution that has been devised to embed the SensAble PHANTOM 6dof force feedback device with a light-weight 6dof force sensor from ATI: the Nano43. The design has been made in a way such that original performances are kept in terms of force feedback and sensing.

BACKGROUND Compelling evidence points at both impaired proprioception and disturbed force control in patients with chronic complex regional pain syndrome (CRPS). Because force modulation at least partly relies on proprioception, we evaluated if impaired sense of force production contributes to disturbances of force control in patients with CRPS. METHODS Characteristics of voluntary force modu...

Due to the massive calculations of force feedback, and the difficulty in haptic scenes and graphic scenes refreshing, the real-time force feedback interactive technology in virtual model is studied. Based on the research of force feedback simulation model, a mechanical simulation model using material scrapers rate is presented. This model can calculate the scraping of force feedback according t...

Soft objects are often desired in applications such as virtual surgery training. Soft object simulations are computationally intensive because object deformation involves numerically solving a large number of differential equations. However, realistic force feedback requires deformation be computed fast and graphic feedback requires deformation be highly detailed. In this paper, we propose an a...

The extent that haptic force feedback affects peoples ability to collaborate in a distributed way or how it affects their perception of the collaborative environment has not been investigated much. In this paper an experiment is presented where collaboration in a distributed desktop virtual environment with haptic force feedback was studied. A video analysis of the frequency of failures to lift...

Force feedback has been suggested to provide a number of benefits to surgery. Few studies, however, have addressed the benefit of force feedback in the context of the complexities of true surgical tasks. When information is limited (such as depth information in endoscopically guided tasks), force feedback may provide additional information that improves performance. We investigate a two-handed,...

This manuscript reports the results in the design and implementation of a fully mobile haptic interface that delivers force feedback to the user with a closed loop control on the driving wheels. With respect to other research on mobile haptics, the problem of generating the force feedback has not been decoupled from the motion problem of the device with the use of an intermediate device. The pr...

The goal of this study was to enhance robotic surgical training via real-time augmented visual feedback. Thirty novices (medical students) were divided into 5 feedback groups (speed, relative phase, grip force, video, and control) and trained during 1 session in 3 inanimate surgical tasks with the da Vinci Surgical System. Task completion time, distance traveled, speed, curvature, relative phas...