Perception and Action in Simulated Telesurgery

  • Ilana Nisky
  • Assaf Pressman
  • Carla M. Pugh
  • Ferdinando A. Mussa-Ivaldi
  • Amir Karniel
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6191)


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.


delay perception action telesurgery needle insertion 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Ilana Nisky
    • 1
  • Assaf Pressman
    • 1
    • 2
  • Carla M. Pugh
    • 3
  • Ferdinando A. Mussa-Ivaldi
    • 2
  • Amir Karniel
    • 1
  1. 1.Biomedical EngineeringBen Gurion University of the NegevBeer-ShevaIsrael
  2. 2.Sensory Motor Performance ProgramRehabilitation Institute of ChicagoChicagoUSA
  3. 3.Feinberg School of MedicineNorthwestern UniversityChicagoUSA

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