Cutaneous Haptic Feedback in Robotic Teleoperation

  • Claudio¬†Pacchierotti
Part of the Springer Series on Touch and Haptic Systems book series (SSTHS)

Table of contents

  1. Front Matter
    Pages i-xxii
  2. Force Feedback via Cutaneous Cues Only

    1. Front Matter
      Pages 1-1
    2. Claudio Pacchierotti
      Pages 21-36
    3. Claudio Pacchierotti
      Pages 37-58
    4. Claudio Pacchierotti
      Pages 59-89
  3. Force Feedback via Mixed Cutaneous and Kinesthetic Cues

  4. Back Matter
    Pages 141-142

About this book

Introduction


This 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.

Keywords

Cutaneous Feedback Haptic Feedback Haptics Robot-assisted Surgery Robotic Teleoperation

Authors and affiliations

  • Claudio¬†Pacchierotti
    • 1
  1. 1.Department of Advanced RoboticsIstituto Italiano di Tecnologia (IIT)GenovaItaly

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-319-25457-9
  • Copyright Information Springer International Publishing Switzerland 2015
  • Publisher Name Springer, Cham
  • eBook Packages Computer Science
  • Print ISBN 978-3-319-25455-5
  • Online ISBN 978-3-319-25457-9
  • Series Print ISSN 2192-2977
  • Series Online ISSN 2192-2985
  • About this book