A Portable Fingertip Tactile Feedback Array " Transmission System Reliability and Modelling
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
ACM SIGGRAPH 2007 emerging technologies
Detectability and Perceptual Consequences of Delayed Feedback in a Vibrotactile Texture Display
IEEE Transactions on Haptics
Effects of haptic and graphical force feedback on teleoperated palpation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand
IEEE Transactions on Haptics
Deformation-based tactile feedback using a biologically-inspired sensor and a modified display
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Robotics and Autonomous Systems
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The ability to localise harder areas in soft tissues is often desired during robot-assisted surgical operations. A deformation-based tactile feedback system was tested for the detection of objects within soft tissues, after being chosen over common pressure-based designs. This system uses a biologically inspired sensor that offers a new finger-like approach to tactile sensing. A tactile shape display developed from previous successful designs was used to output the sensed tactile information. Using the tactile feedback system on a mechanical teleoperated device, test subjects palpated a number of artificial tissue models to locate objects of varying stiffness. The addition of the tactile feedback system improved the detection of the objects from 64% to 98%, reduced the localisation error from 18 to 11 mm, and also decreased the time the users spent palpating the tissue from 55 to 37 s. This demonstrates that a deformation-based tactile feedback system can be used to successfully locate hard embedded objects within soft tissue, with a significant improvement over force and visual feedback alone. During testing, it was found that the users were able to more accurately locate the softest embedded objects compared to stiffer ones. Reasons for this observation are discussed.