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020 _a9783319254579
_z978-3-319-25457-9
024 7 _a10.1007/978-3-319-25457-9
_2doi
040 _aTR-AnTOB
_beng
_cTR-AnTOB
_erda
050 4 _aQA76.9.U83
050 4 _aQA76.9.H85
072 7 _aUYZG
_2bicssc
072 7 _aCOM070000
_2bisacsh
072 7 _aUYZG
_2thema005.437
_2234.019
_223
100 1 _aPacchierotti, Claudio.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
245 1 0 _aCutaneous Haptic Feedback in Robotic Teleoperation /
_cby Claudio Pacchierotti.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2015.
300 _a1 online resource
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 0 _aSpringer Series on Touch and Haptic Systems,
_x2192-2977
505 0 _aForeword -- Introduction -- Part I: Force Feedback via Cutaneous Cues Only -- Sensory Subtraction in Teleoperation: Substituting Haptic Force with Cutaneous Stimuli -- Needle Insertion in Simulated Soft Tissue -- Peg-in-Hole in Simulated and Real Scenarios -- Remote Palpation Using the Da Vinci Surgical System -- Part II: Force Feedback via Mixed Cutaneous and Kinesthetic Cues -- Cutaneous and Kinesthetic Cues to Improve Transparency in Teleoperation -- Cutaneous and Kinesthetic Cues for Enhanced Navigation Feedback in Teleoperation -- Conclusion and Future Works.
520 _aThis work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.
650 0 _aComputer science.
650 1 4 _aUser Interfaces and Human Computer Interaction.
_0http://scigraph.springernature.com/things/product-market-codes/I18067
650 2 4 _aControl, Robotics, Mechatronics.
_0http://scigraph.springernature.com/things/product-market-codes/T19000
710 2 _aSpringerLink (Online service)
856 4 0 _3Springer eBooks
_zOnline access link to the resource
_uhttps://doi.org/10.1007/978-3-319-25457-9
942 _2lcc
_cEBK
041 _aeng