Perception and action in simulated telesurgery

Authors:
Ilana Nisky;Assaf Pressman;Carla M. Pugh;Ferdinando A. Mussa-Ivaldi;Amir Karniel
Affiliations:
Biomedical Engineering, Ben Gurion University of the Negev, Beer-Sheva, Israel;Biomedical Engineering, Ben Gurion University of the Negev, Beer-Sheva, Israel and Sensory Motor Performance Program, Rehabilitation Institute of Chicago, Chicago IL;Feinberg School of Medicine, Northwestern University, Chicago, IL;Sensory Motor Performance Program, Rehabilitation Institute of Chicago, Chicago IL;Biomedical Engineering, Ben Gurion University of the Negev, Beer-Sheva, Israel
Venue:
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Year:
2010

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Abstract

We studied the effect of delay on perception and action in contact with a force field that emulates elastic soft tissue with a specific rigid nonlinear boundary. Such field is similar to forces exerted on a needle during teleoperated needle insertion tasks. We found that a nonlinear boundary region causes both psychometric and motor overestimation of stiffness, and that delay causes motor but not psychometric underestimation of the stiffness of this nonlinear soft tissue. In addition we show that changing the teleoperation channel gain reduces and can even cancel the motor effect of delay.