| Autor: |
Schäfer Max B., Riepe Sarah, Parenzan Matthias, Bauer Christian J. E., Hotz Jonas, Meiringer Johannes G., Weiland Sophie, Pott Peter P. |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
Current Directions in Biomedical Engineering, Vol 10, Iss 2, Pp 62-65 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2364-5504 |
| DOI: |
10.1515/cdbme-2024-1068 |
| Popis: |
Haptic feedback of gripping forces during robotassisted surgery can benefit the surgical outcome by means of reduced forces applied to the tissue. A custom-designed haptic user interface allows to control four degrees of freedom of the instrument’s endeffector and to display gripping forces. System-centered evaluation is performed to assess its capability of displaying feedback with high mechanical bandwidth. In addition, the perception of gripping forces is evaluated using task-centered methods. Two tasks were performed by ten participants to assess the perceived feedback regarding size and stiffness of grasped objects. Maximum feedback forces of 4.3N and a mechanical bandwidth of 73.5 Hz are achieved. Tests with participants showed promising results regarding the discrimination of size and stiffness of grasped objects. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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