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This paper addresses the limitations of camera-based random bin picking (RBP) strategies by proposing an innovative strategy that relies solely on a 6-axis load cell instead of cameras and image processing algorithms. Specific applications of RBP include loading and unloading industrial assembly machines, transferring objects between industrial workstations, and picking objects to be assembled directly. Camera-based RBP systems are limited in industrial settings due to challenges related to image processing robustness, high costs of hardware and software, the need for 3D models and extensive training datasets. These limitations are inherently tied to the reliance on camera-based technology and image processing AI. This paper presents a novel camera-less RBP strategy, eliminating the need for visual information processing altogether and circumventing these limitations. The strategy is largely agnostic to factors such as bin size, object material and gripper size, and as such can be modularly configured to the user's needs. This strategy is demonstrated using a collaborative robot, highlighting the advantages in a collaborative environment. The proposed strategy is evaluated through feasibility case studies on several objects of different geometries, namely navel oranges, cardboard boxes and resin bottles, and performance metrics are benchmarked. The strategy has an average success rate of 99%, average cycle time of 26.08 seconds per object and an average grip success rate of 47%. [ABSTRACT FROM AUTHOR]

We focus on dual-user operation, where two users control a single remote robot equipped with a force sensor using haptic interface devices. We employ a cooperative work in which the two users control the remote robot to collaborate with remote robot systems with force feedback to carry an object. By measuring the force acting upon the object, we aim to better understand the underlying mechanisms by which the user with lower network latency can help the other user, as observed in our previous work. We notice that with increasing network delays, the force exerted on the object tends to intensify, indicating that it becomes more challenging for users to operate the remote robot effectively as network delays increase. We also measure the force applied to the object by changing the network delays between the remote robot and the two users to clarify why the user with the lower network delay can assist the other user. We find that when the total network delay is the same, the average force magnitude and the average maximum force magnitude remain nearly identical. This is because, despite the challenges faced by the user with the larger network delay, the user with the smaller delay can operate the remote robot more easily and assist the other user. In order to reduce the force acting upon the object, we propose an enhancement method for the robot position control, which determines the position of the remote robot arm while accounting for network delay, and investigate the effects by experiment. Experimental results demonstrate that our proposed method is effective and can reduce the applied force. This is because the proposed method adjusts the ratio between the user with the lower delay and the user with the higher delay. The user with the lower delay can operate the remote robot more easily and respond to it more quickly. Our findings and proposed method can be useful in improving work accuracy and operability when designing a remote robot system with force feedback for applications. [ABSTRACT FROM AUTHOR]

Background: The absence of force feedback (FFB) is considered a technical limitation in robotic-assisted surgery (RAS). This pre-clinical study aims to evaluate the forces applied to tissues using a novel integrated FFB technology, which allows surgeons to sense forces exerted at the instrument tips. Methods: Twenty-eight surgeons with varying experience levels employed FFB instruments to perform three robotic-assisted surgical tasks, including retraction, dissection, and suturing, on inanimate or ex-vivo models, while the instrument sensors recorded and conveyed the applied forces to the surgeon hand controllers of the robotic system. Generalized Estimating Equations (GEE) models were used to analyze the mean and maximal forces applied during each task with the FFB sensor at the "Off" setting compared to the "High" sensitivity setting for retraction and to the "Low", "Medium", and "High" sensitivity settings for dissection and suturing. Sub-analysis was also performed on surgeon experience levels. Results: The use of FFB at any of the sensitivity settings resulted in a significant reduction in both the mean and maximal forces exerted on tissue during all three robotic-assisted surgical tasks (p < 0.0001). The maximal force exerted, potentially associated with tissue damage, was decreased by 36%, 41%, and 55% with the use of FFB at the "High" sensitivity setting while performing retraction, dissection, and interrupted suturing tasks, respectively. Further, the use of FFB resulted in substantial reductions in force variance during the performance of all three types of tasks. In general, reductions in mean and maximal forces were observed among surgeons at all experience levels. The degree of force reduction depends on the sensitivity setting selected and the types of surgical tasks evaluated. Conclusions: Our findings demonstrate that the utilization of FFB technology integrated in the robotic surgical system significantly reduced the forces exerted on tissue during the performance of surgical tasks at all surgeon experience levels. The reduction in the force applied and a consistency of force application achieved with FFB use, could result in decreases in tissue trauma and blood loss, potentially leading to better clinical outcomes in patients undergoing RAS. Future studies will be important to determine the impact of FFB instruments in a live clinical environment. [ABSTRACT FROM AUTHOR]

Virtual reality (VR) applications for surgical planning and mentoring are currently becoming more widespread. Within these fields of applications, haptic systems are crucial to help the understanding of the feedback provided by the tissue during the interaction with the surgical tool. The accuracy of the VR scenario is related to many aspects, among them the ability of the haptic device to provide the force feedback and thus the adoption of proper characterization and modeling of the soft tissue behavior during deformation. This paper presents the current development concerning a VR environment to be equipped with a force feedback haptic device to simulate and experience clamping in colorectal surgery. The reaction at the clamp handle is provided starting from a FEA of the contact between the surgical tool and the tissue, coupled with the kinematic analysis of the mechanism. Connecting the virtual scenario to a microcontroller board, the reaction force is applied to the the haptic device, shaped as a clamping tool handle, so that the user may experience the tissue impedence during clamping. By simulations made through Simscape, a concept is evaluated according to some simulation paths that involve common scenarios of the virtual reality experience (such as collision, partial or total clamping operation). The novelty of the research regards the system design oriented to increase the accuracy of the soft tissue material behaviour through a preliminary off-line dedicated FEA investigation. Through Simulink simulations, the system design is verified so that the VR system set-up may be carried out. The results highlighted: (a) a good correspondence among the theoretical study of the reference kinematism that the haptic device must reproduce; (b) the implementation of a bilinear material model, derived off-line from FEA, is suitable to capture hyperelastic and geometric non-linearities of the soft tissue; (c) the feasibility of the open loop haptic control in accordance to the explored kinematism. The final goal of the research is to propose a system design approach able to tune the VR experince for teaching and mentoring through a in-house set-up easy to be tailored. [ABSTRACT FROM AUTHOR]

Mirror therapy is a standard technique of rehabilitation for recovering motor and vision abilities of stroke patients, especially in the case of asymmetric limb function. To enhance traditional mirror therapy, robotic mirror therapy (RMT) has been proposed over the past decade, allowing for assisted bimanual coordination of paretic (affected) and contralateral (healthy) limbs. However, state-of-the-art RMT platforms predominantly target mirrored motions of trajectories, largely limited to 2-D motions. In this paper, an RMT platform is proposed, which can facilitate the patient to practice virtual activities of daily living (ADL) and thus enhance their independence. Two similar (but mirrored) 3D virtual environments are created in which the patients operate robots with both their limbs to complete ADL (such as writing and eating) with the assistance of the therapist. The recovery level of the patient is continuously assessed by monitoring their ability to track assigned trajectories. The patient’s robots are programmed to assist the patient in following these trajectories based on this recovery level. In this paper, the framework to dynamically monitor recovery level and accordingly provide assistance is developed along with the nonlinear controller design to ensure position tracking, force control, and stability. Proof-of-concept studies are conducted with both 3D trajectory tracking and ADL. The results demonstrate the potential use of the proposed system to enhance the recovery of the patients.

Force feedback is currently missing in most surgical robot systems, even though it would be essential for many surgical tasks, such as palpating tissue. In this study, we used a previously developed robotic endoscope based on series elastic actuation and tested the feasibility of using it for force feedback with a pilot study. The participants had a lower test time (−27%) and lower applied forces (−23%) with force feedback enabled. While further studies are needed for validation in realistic surgical scenarios, these results suggest improved safety and efficiency in telemanipulated surgeries.

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.

This study aims to develop and evaluate a unique 3D haptic system utilizing a gimbal mechanism and three Magneto-Rheological Brakes (MRBs). The research begins with a comprehensive literature review to propose a configuration for a 3D haptic joystick with force feedback, employing MRF actuators. The gimbal mechanism integrates the three MRBs to provide force feedback for rotational movement along the X, Y, and Z axes. The design and simulation of the MRBs are carried out using the finite element method and the Bingham plastic rheological model, with a focus on minimizing mass and production costs. To address the objective optimization problem associated with the MRBs, Particle Swarm Optimization is applied. Subsequently, a physical prototype of the 3D haptic joystick is constructed, and an evaluation is conducted to assess the feedback force. This research also paves the way for future investigations into force feedback in remote control, particularly within the context of the Master-Slave system.

Objectives Materials and methods Results Conclusions To reveal the force profiles recorded by haptic autonomous robotic force feedback during the transcrestal sinus floor elevation (TSFE) process, providing a reference for the surgery strategy during TSFE.A total of 42 maxillary sinus models with different angles of the sinus floor (30°, 40°, 50°, 60°, 70°, 80°, and 90°, compared to vertical plane) were 3D printed. Implant site preparation was performed using a robotic system, and the total force (Ft) and axial force along the drill (Fz) during the surgery were recorded by the haptic robotic arm. The actual initial breakthrough point (drill contacting sinus floor) and complete breakthrough point (drill penetrating the sinus floor) were defined visually (the actual IBP and the actual CBP). The theoretical initial breakthrough point (the theoretical IBP) and the theoretical complete breakthrough point (the theoretical CBP) defined by the robot‐guided system and the CBCT were determined by real‐time force feedback and imaging distance measurement, respectively. The distance from the bottom of the resin model to the actual IBP and the actual CBP was defined as Di and Dt, respectively.The difference in Fz began to increase significantly at 70°, while the difference in Ft became significant at 60°. When the angle was greater than 70°, there was no significant difference in the discrepancy between the actual and theoretical perforation points. Compared to judging the breakthrough point by CBCT, real‐time force feedback TSFE under robotic surgery achieved more accurate initial breakthrough point detection.The smaller the angle, the larger the breakthrough force for the drill. The real‐time force feedback of haptic robotic system during TSFE could provide reliable reference for dentists. More clinical studies are needed to further validate the application of robotic surgery assisted TSFE. [ABSTRACT FROM AUTHOR]

In this paper, an enhanced integral force feedback controller is proposed for implementing active damping. Compared with the classical integral force feedback, the pure integrator is replaced with a combination of a first-order low-pass filter and a proportional term. The control performance of the proposed controller is examined on a single-degree-of-freedom host system. In order to better understand the physics behind, a full equivalent mechanical model is derived. It is found that the first-order low-pass filter is mechanically equivalent to a spring and a damper connected in parallel. The proportional term mechanically represents a spring which is connected in series with the inherent actuator spring. The optimal control parameters are numerically obtained with the ℋ∞ optimisation criterion. The analysis shows that the optimal feedback gain can be practically taken the same as that of the classical integral force feedback controller in the sense that the difference between the resultant control performance is negligible. The numerical study is also experimentally validated. The obtained results are found to correspond well with the theoretical developments. [ABSTRACT FROM AUTHOR]

Teleoperation of manipulators has allowed extending the human skills to several areas, where the commands generated by a human operator on the leader robot are followed by a remote robot. For this purpose, position-position tracking requires a mapping given the mismatch between robot workspaces. This paper compares a pair of functions for mapping the haptic device commands to handle a remote robot, considering non-identical workspaces and a classic P+d control scheme. As part of the theoretical analysis, a Lyapunov-Krasovskii-based stability analysis is developed in steps, allowing us for determining the boundedness of velocities and coordination errors. Subsequently, the performance of the teleoperation system is compared using two mapping functions. To achieve a fair comparison of results, a test protocol is developed, where different levels of haptic device damping, time delays, and workspace scales are used to evaluate the time to complete the task and the average coordination errors. Based on the results, the mapping function influences the calculation of force feedback, stability of the system, and performance metrics. During a pick-and-place task, a reduction in coordination error is observed when the linear function is chosen, while the time to complete the task is lower when a non-linear function is considered. [ABSTRACT FROM AUTHOR]

Background: Tissue handling is a crucial skill for surgeons and is challenging to learn. The aim of this study was to develop laparoscopic instruments with different integrated tactile vibration feedback by varying different tactile modalities and assess its effect on tissue handling skills. Methods: Standard laparoscopic instruments were equipped with a vibration effector, which was controlled by a microcomputer attached to a force sensor platform. One of three different vibration feedbacks (F1: double vibration > 2 N; F2: increasing vibration relative to force; F3: one vibration > 1.5 N and double vibration > 2 N) was applied to the instruments. In this multicenter crossover trial, surgical novices and expert surgeons performed two laparoscopic tasks (Peg transfer, laparoscopic suture, and knot) each with all the three vibration feedback modalities and once without any feedback, in a randomized order. The primary endpoint was force exertion. Results: A total of 57 subjects (15 surgeons, 42 surgical novices) were included in the trial. In the Peg transfer task, there were no differences between the tactile feedback modalities in terms of force application. However, in subgroup analysis, the use of F2 resulted in a significantly lower mean-force application (p-value = 0.02) among the student group. In the laparoscopic suture and knot task, all participants exerted significantly lower mean and peak forces using F2 (p-value < 0.01). These findings remained significant after subgroup analysis for both, the student and surgeon groups individually. The condition without tactile feedback led to the highest mean and peak force exertion compared to the three other feedback modalities. Conclusion: Continuous tactile vibration feedback decreases the mean and peak force applied during laparoscopic training tasks. This effect is more pronounced in demanding tasks such as laparoscopic suturing and knot tying and might be more beneficial for students. Laparoscopic tasks without feedback lead to increased force application. [ABSTRACT FROM AUTHOR]

Purpose: Skullbase surgery demands exceptional precision when removing bone in the lateral skull base. Robotic assistance can alleviate the effect of human sensory-motor limitations. However, the stiffness and inertia of the robot can significantly impact the surgeon's perception and control of the tool-to-tissue interaction forces. Methods: We present a situational-aware, force control technique aimed at regulating interaction forces during robot-assisted skullbase drilling. The contextual interaction information derived from the digital twin environment is used to enhance sensory perception and suppress undesired high forces. Results: To validate our approach, we conducted initial feasibility experiments involving a medical and two engineering students. The experiment focused on further drilling around critical structures following cortical mastoidectomy. The experiment results demonstrate that robotic assistance coupled with our proposed control scheme effectively limited undesired interaction forces when compared to robotic assistance without the proposed force control. Conclusions: The proposed force control techniques show promise in significantly reducing undesired interaction forces during robot-assisted skullbase surgery. These findings contribute to the ongoing efforts to enhance surgical precision and safety in complex procedures involving the lateral skull base. [ABSTRACT FROM AUTHOR]

This paper investigates the versatility of force feedback (FF) technology in enhancing user interfaces across a spectrum of applications. We delve into the human finger pad's sensitivity to FF stimuli, which is critical to the development of intuitive and responsive controls in sectors such as medicine, where precision is paramount, and entertainment, where immersive experiences are sought. The study presents a case study in the automotive domain, where FF technology was implemented to simulate mechanical button presses, reducing the JND FF levels that were between 0.04 N and 0.054 N to the JND levels of 0.254 and 0.298 when using a linear force feedback scale and those that were 0.028 N and 0.033 N to the JND levels of 0.074 and 0.164 when using a logarithmic force scale. The results demonstrate the technology's efficacy and potential for widespread adoption in various industries, underscoring its significance in the evolution of haptic feedback systems. [ABSTRACT FROM AUTHOR]

Background: Virtual simulations (VSs) enhance clinical competencies and skills. However, a previous systematic review of 9 RCT studies highlighted a paucity of literature on the effects of haptic feedback in surgical VSs. An updated systematic and scoping review was conducted to encompass more studies and a broader range of study methodologies. Methods: A systematic literature search was conducted on July 31, 2023, in MEDLINE, Embase, and Cochrane. English language studies comparing haptic vs non-haptic conditions and using VSs were included. Studies were evaluated and reported using PRISMA-ScR guidelines. Results: Out of 2782 initial studies, 51 were included in the review. Most studies used RCT (21) or crossover (23) methodologies with medical residents, students, and attending physicians. Most used post-intervention metrics, while some used pre- and post-intervention metrics. Overall, 34 performance results from studies favored haptics, 3 favored non-haptics, and the rest showed mixed or equal results. Conclusion: This updated review highlights the diverse application of haptic technology in surgical VSs. Haptics generally enhances performance, complements traditional teaching methods, and offers personalized learning with adequate simulator validation. However, a sparsity of orienting to the simulator, pre-/post-study designs, and small sample sizes poses concerns with the validity of the results. We underscore the urgent need for standardized protocols, large-scale studies, and nuanced understanding of haptic feedback integration. We also accentuate the significance of simulator validation, personalized learning potential, and the need for researcher, educator, and manufacturer collaboration. This review is a guidepost for navigating the complexities and advancements in haptic-enhanced surgical VSs. [ABSTRACT FROM AUTHOR]

There are currently limited tactile learning aid materials for the blind and visually impaired, which incorporate refreshable displays with varying stiffness. In this research, we used a ferrofluid to develop a tactile learning aid display that creates bumps under the effect of a magnetic field to provide versatile stiffness and sufficient deformation for rendering 2.5-dimensional information. To improve the force feedback, the ferrofluid was further enhanced with iron particles and evaluated using a pressure sensor. Subsequently, a microcontroller was used to send commands via Bluetooth to remotely control the tactile display. A graphical user interface that allows users to enter words, perform simple calculations, and display simple shapes on the tactile display was developed. Results from the enhanced ferrofluid showed force feedback that is 45% stronger than that of a commercial ferrofluid. This study includes a comprehensive examination of the effect of magnetic field on enhanced ferrofluid and also shows that the formulation of an enhanced ferrofluid has raised the force feedback to 4.2 N and the maximum protrusion height to up to 3 mm. This innovative approach offers potential benefits for the development of advanced haptic devices for the education of the visually impaired. Lastly, the proposed tactile sensor module signifies a major leap in assistive technology, unlocking new opportunities for engagement, education, and improvement in the quality of life of the visually impaired population. [ABSTRACT FROM AUTHOR]

Abstract Background A lack of force feedback in laparoscopic surgery often leads to a steep learning curve to the novices and traditional training system equipped with force feedback need a high educational cost. This study aimed to use a laparoscopic grasper providing force feedback in laparoscopic training which can assist in controlling of gripping forces and improve the learning processing of the novices. Methods Firstly, we conducted a pre-experiment to verify the role of force feedback in gripping operations and establish the safe gripping force threshold for the tasks. Following this, we proceeded with a four-week training program. Unlike the novices without feedback (Group A2), the novices receiving feedback (Group B2) underwent training that included force feedback. Finally, we completed a follow-up period without providing force feedback to assess the training effect under different conditions. Real-time force parameters were recorded and compared. Results In the pre-experiment, we set the gripping force threshold for the tasks based on the experienced surgeons’ performance. This is reasonable as the experienced surgeons have obtained adequate skill of handling grasper. The thresholds for task 1, 2, and 3 were set as 0.731 N, 1.203 N and 0.938 N, respectively. With force feedback, the gripping force applied by the novices with feedback (Group B1) was lower than that of the novices without feedback (Group A1) (p

In this paper, a method for creating texture models with physical significance using a parametric equalizer (PEQ)-based approach is presented. The model is based on the frequency, amplitude, bandwidth, and noise ratio corresponding to texture profiles. Additionally, the method simplifies the modeling process by enabling the selective omission of imperceptible roughness layers based on human tactile thresholds. The effectiveness of the simplified model was validated through subjective evaluations comprising both absolute and relative assessments. The results confirmed that layers with imperceptible roughness could be excluded without compromising perceived similarity, streamlining the texture modeling process. Regression analysis revealed that PEQ parameters reflect physical interactions in tactile sensations, such as the relationship between texture roughness and vibration amplitude. This study contributes to haptic texture modeling by offering a method that efficiently reproduces actual textures and mirrors the fundamental physical principles of touch. The findings hold promise for applications in texture authoring and material selection, indicating potential advancements in the development of more intuitive and physically transparent texture models.

In a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit the position and force information. Several types of conventional two-channel controllers are difficult to operate and contact with hard environments. A two-channel controller with a performance equivalent to that of a four-channel controller exists, but it still requires local position control loops. Therefore, this study proposes a force-symmetric type two-channel bilateral control system based on force control systems with robust acceleration controllers using second-order disturbance observers (DOBs) among higher-order DOBs. Bilateral control systems have two control goals: synchronization of the position of the master-slave system, which is a position-related control goal, and artificial realization of the law of action-reaction between the master-slave system, which is a force-related control goal. Methods using low-order DOBs, such as zero- and first-order DOBs, cannot achieve the position-related control goal. In contrast, the proposed method can achieve both the position and force control goals simultaneously, even though it only has force transmission channels and control loops. This study also showed that the performance of the proposed two-channel bilateral control system is equivalent to that of a four-channel bilateral control system that transmits both position and force information. The effectiveness of the proposed method was confirmed through experiments.

The construction industry currently is confronted with significant challenges, stemming from a decreasing working population coupled with an aging workforce. Accordingly, the development of teleoperated hydraulic excavators is being investigated to optimize operations. The ability to switch between multiple machines during operations is expected to reduce transportation and labor costs, thereby increasing productivity. However, work efficiency may be severely affected when operators switch between different classes of machines, such as excavators with varying sizes and capabilities. Each machine class operates differently, and immediate adjustments to the dynamic characteristics may be challenging. Previous research has demonstrated that operators of teleoperated hydraulic excavators struggle to perceive load, as they rely on visual information from cameras instead of tactile feedback. Consequently, loading information, particularly related to the attachment’s maximum exertion force, is difficult to estimate. This study proposes a load index called “attachment joint-load ratio” to mitigate decreased work efficiency when switching machines. This index considers the attachment’s maximum exertion force and attempts to provide operators with intuitive feedback about load conditions. This study focuses on excavation work and compares the operating characteristics of a standard hydraulic excavator with a conventional load feedback method. The objective is to ascertain whether feedback regarding the attachment joint load ratio can mitigate the effects of transitioning between machine classes on work efficiency. Using a simulator that mimics a teleoperated hydraulic excavator based on the proposed feedback method, we conducted experiments and verified the effectiveness of the proposed method.

We focus on dual-user operation, where two users control a single remote robot equipped with a force sensor using haptic interface devices. We employ a cooperative work in which the two users control the remote robot to collaborate with remote robot systems with force feedback to carry an object. By measuring the force acting upon the object, we aim to better understand the underlying mechanisms by which the user with lower network latency can help the other user, as observed in our previous work. We notice that with increasing network delays, the force exerted on the object tends to intensify, indicating that it becomes more challenging for users to operate the remote robot effectively as network delays increase. We also measure the force applied to the object by changing the network delays between the remote robot and the two users to clarify why the user with the lower network delay can assist the other user. We find that when the total network delay is the same, the average force magnitude and the average maximum force magnitude remain nearly identical. This is because, despite the challenges faced by the user with the larger network delay, the user with the smaller delay can operate the remote robot more easily and assist the other user. In order to reduce the force acting upon the object, we propose an enhancement method for the robot position control, which determines the position of the remote robot arm while accounting for network delay, and investigate the effects by experiment. Experimental results demonstrate that our proposed method is effective and can reduce the applied force. This is because the proposed method adjusts the ratio between the user with the lower delay and the user with the higher delay. The user with the lower delay can operate the remote robot more easily and respond to it more quickly. Our findings and proposed method can be useful in improving work accuracy and operability when designing a remote robot system with force feedback for applications.

Background: Currently, widely used robotic surgical systems do not provide force feedback. This study aimed to evaluate the impact and benefits of a force feedback function on the suturing procedure. Methods: Twenty surgeons were recruited and divided into young (Y-group, n = 11) and senior (S-group, n = 9) groups, based on their years of surgical experience. The effect of the force feedback function on suturing quality was evaluated using an objective assessment system (A-LAP mini, Kyoto Kagaku Co., Ltd., Kyoto, Japan). Each participant completed the suturing task on intestinal model sheets with the robotic contact force feedback on and off. The task accomplishment time (s), maximal force (Newton, N) applied to the robotic forceps, and quality of suturing (assessed by A-LAP mini) were recorded as performance parameters. Results: In total, the maximal force applied to the robotic forceps was significantly decreased with the robotic force feedback switched on (median [interquartile range]: 2.8 N (2.3–3.2)) as compared with when the feedback was switched off (3.4 N (2.7–4.0), P < 0.001). The contact force feedback function did not affect the objectively assessed suturing score (18 points (17.7–19.0) versus 18 points (17.0–19.0), P = 0.421). The contact force feedback function slightly shortened the task accomplishment time in the Y-group (552.5 s (466.5–832) versus 605.5 s (476.2–689.7), P = 0.851) but not in the S-group (566 s (440.2–703.5) versus 470.5 s (419.7–560.2), P = 0.164). Conclusions: With the contact force feedback function, the suturing task was completed with a smaller maximal force, while maintaining the quality of suturing. Because the benefits are more apparent in young surgeons, robots with the contact force feedback function will facilitate the educational process in novice surgeons. [ABSTRACT FROM AUTHOR]

We aimed to understand which factors have a functional role in the size coding of responses, either the size of the switches or the force required to trigger each switch. This question is of relevance because it allows a better understanding of processes underlying action coding. In each trial, participants saw a small or large object. Depending on its colour, the participants had to press one of two switches. In the "size" condition, the response device consisted of two switches of different visual size, but both required the same amount of force. In the "force‐feedback" condition, the response device consisted in two switches of identical visual size, but one switch required more force than the other. We found a compatibility effect in the "size," not in the "force‐feedback" condition, supporting that the size‐coding of responses would be due to the size of the switches. [ABSTRACT FROM AUTHOR]

Immersion and presence are important aspects of virtual reality (VR). Efforts are therefore being made to enhance these effects in order to increase the impact of VR and its transferability to reality. This is particularly important in research areas such as medical education and psychology. The development of haptic gloves has therefore increased significantly in recent years. These are immersive input devices designed to make virtual objects tangible. However, the research field is still very new and there is insufficient research on their handling and effect. For this reason, an application was developed to compare different haptic data gloves with different haptic technologies. A glove with vibrotactile feedback (Manus Prime X Haptic VR) and a glove with additional force feedback (SenseGlove) were used and compared in multiple tasks. These include finger tracking and gesture recognition, as well as hand tracking and the behaviour of gloves when grasping objects with and without haptics. The aim is to determine how well the haptics could be integrated and which is more accepted by the test subjects. For this purpose, a questionnaire has been designed to evaluate the effect of the haptic gloves on users. It aims to get a first impression of the tactile gloves available on the market and to advance research in the area.

Abstract Background Closing the control loop in myoelectric prostheses by providing artificial somatosensory feedback is recognized as an important goal. However, designing a feedback interface that is effective in realistic conditions is still a challenge. Namely, in some situations, feedback can be redundant, as the information it provides can be readily obtained through hearing or vision (e.g., grasping force estimated from the deformation of a compliant object). EMG feedback is a non-invasive method wherein the tactile stimulation conveys to the user the level of their own myoelectric signal, hence a measurement intrinsic to the interface, which cannot be accessed incidentally. Methods The present study investigated the efficacy of EMG feedback in prosthesis force control when 10 able-bodied participants and a person with transradial amputation used a myoelectric prosthesis to grasp compliant objects of different stiffness values. The performance with feedback was compared to that achieved when the participants relied solely on incidental cues. Results The main outcome measures were the task success rate and completion time. EMG feedback resulted in significantly higher success rates regardless of pin stiffness, indicating that the feedback enhanced the accuracy of force application despite the abundance of incidental cues. Contrary to expectations, there was no difference in the completion time between the two feedback conditions. Additionally, the data revealed that the participants could produce smoother control signals when they received EMG feedback as well as more consistent commands across trials, signifying better control of the system by the participants. Conclusions The results presented in this study further support the efficacy of EMG feedback when closing the prosthesis control loop by demonstrating its benefits in particularly challenging conditions which maximized the utility of intrinsic feedback sources.

The development of virtual reality technology promotes the progress of medicine and has a pivotal role in dentistry. This paper focuses on collision detection and force feedback haptic perception for oral virtual surgery. The study uses a combination of octree and AABB enclosing box for collision detection, and a force feedback computation method based on meshless SPH to construct a force feedback model after collision detection for oral virtual surgery. This paper’s octree AABB structure algorithm achieves the shortest time in collision detection experiments, with a 29.82% and 18.03% increase over the traditional AABB algorithm and binary tree structure, respectively. The accuracy of the feedback force in this paper has been improved by 2.18%, which is closer to the operation effect of actual clinical surgery. The model presented in this paper has specific feasibility and accuracy, and can be used for collision detection and force feedback sensing in oral virtual surgery.

Electrostatic clutches have the potential to enhance the functionality of actuators in the field of robotic industries, offering benefits such as heightened precision, rapid response times, and improved energy efficiency. These clutches serve as flexible, lightweight, and cost-effective mechanisms that find applications in a variety of force-dependent tasks, including robotic grippers, clamping systems, holding fixtures, lifting and hoisting equipment, and VR haptic gloves. However, incorporating these clutches into practical designs has proven to be challenging due to the inherent variability in holding forces and its range caused by the changing position of the moving electrodes and the corresponding overlapping areas. To address this issue, we propose a novel conceptual design of an electrostatic clutch that employs cylindrical electrodes. The aim of this study is to maintain a consistent friction force range by ensuring a constant overlapping area. In demonstrating the proof of concept, we delineate the design specifications for a clutch that is customized for a haptic force feedback glove. The clutch is characterized by its compact length, lightweight construction, and cost-effectiveness. Furthermore, this proposed clutch was designed with the specific intention of providing tactile force feedback by holding the fingers of users and addressing challenges related to wearability. An experiment was conducted to determine the minimum force required to perceive resistance on the finger, showcasing the clutch’s suitability for use in VR gloves. The results revealed that the average force exerted was measured at 2.8 N. The proposed clutch demonstrates the ability to hold a maximum force of 3 N at 1000 input voltage, which should maintain the allowable move length with a fixed force range. Additionally, the response time of the proposed clutch is documented to be less than 270 ms.

This paper compares force and strain feedback for a contact force controller implemented in a constrained flexible manipulator for three-dimensional motion. In the experiments, force inputs of -1, -2 and -3 N were supplied as targets along z-axis direction and the feedback methods compared for their ability in tracking the supplied force. From the results, strain feedback was able to correct for slippage on the contact surface due to increased input force. It was thus concluded that strain feedback is better than force feedback for the constrained flexible manipulator. As a general guideline, it was also found that recordings should be collected at tip of the manipulator instead of the root to reduce noise levels. [ABSTRACT FROM AUTHOR]

This paper investigates the versatility of force feedback (FF) technology in enhancing user interfaces across a spectrum of applications. We delve into the human finger pad’s sensitivity to FF stimuli, which is critical to the development of intuitive and responsive controls in sectors such as medicine, where precision is paramount, and entertainment, where immersive experiences are sought. The study presents a case study in the automotive domain, where FF technology was implemented to simulate mechanical button presses, reducing the JND FF levels that were between 0.04 N and 0.054 N to the JND levels of 0.254 and 0.298 when using a linear force feedback scale and those that were 0.028 N and 0.033 N to the JND levels of 0.074 and 0.164 when using a logarithmic force scale. The results demonstrate the technology’s efficacy and potential for widespread adoption in various industries, underscoring its significance in the evolution of haptic feedback systems.

Some virtual reality (VR) applications require true-to-life object manipulation, such as for training or teleoperation. We investigate an interaction technique that replicates the variable grip strength applied to a held object when using force-feedback gloves in VR. We map the exerted finger pressure to the rotational freedom of the virtual object. With a firm grip, the object’s orientation is fixed to the hand. With a loose grip, the user can allow the object to rotate freely within the hand. A user study (N = 21) showed how challenging it was for participants to control the object’s rotation with our prototype employing the SenseGlove DK1. Despite high action fidelity, the grip variability led to poorer performance and increased task load compared to the default fixed rotation. We suspect low haptic fidelity as an explanation as only kinesthetic forces but no cutaneous cues are rendered. We discuss the system design limitations and how to overcome them in future haptic interfaces for physics-based multi-finger object manipulation.

Background: Closing the control loop in myoelectric prostheses by providing artificial somatosensory feedback is recognized as an important goal. However, designing a feedback interface that is effective in realistic conditions is still a challenge. Namely, in some situations, feedback can be redundant, as the information it provides can be readily obtained through hearing or vision (e.g., grasping force estimated from the deformation of a compliant object). EMG feedback is a non-invasive method wherein the tactile stimulation conveys to the user the level of their own myoelectric signal, hence a measurement intrinsic to the interface, which cannot be accessed incidentally. Methods: The present study investigated the efficacy of EMG feedback in prosthesis force control when 10 able-bodied participants and a person with transradial amputation used a myoelectric prosthesis to grasp compliant objects of different stiffness values. The performance with feedback was compared to that achieved when the participants relied solely on incidental cues. Results: The main outcome measures were the task success rate and completion time. EMG feedback resulted in significantly higher success rates regardless of pin stiffness, indicating that the feedback enhanced the accuracy of force application despite the abundance of incidental cues. Contrary to expectations, there was no difference in the completion time between the two feedback conditions. Additionally, the data revealed that the participants could produce smoother control signals when they received EMG feedback as well as more consistent commands across trials, signifying better control of the system by the participants. Conclusions: The results presented in this study further support the efficacy of EMG feedback when closing the prosthesis control loop by demonstrating its benefits in particularly challenging conditions which maximized the utility of intrinsic feedback sources. [ABSTRACT FROM AUTHOR]

This paper proposes a kinesthetic–tactile fusion feedback system based on virtual interaction. Combining the results of human fingertip deformation characteristics analysis and an upper limb motion mechanism, a fingertip tactile feedback device and an arm kinesthetic feedback device are designed and analyzed for blind instructors. In order to verify the effectiveness of the method, virtual touch experiments are established through the mapping relationship between the master–slave and virtual end. The results showed that the average recognition rate of virtual objects is 79.58%, and the recognition speed is improved by 41.9% compared with the one without force feedback, indicating that the kinesthetic–tactile feedback device can provide more haptic perception information in virtual feedback and improve the recognition rate of haptic perception. [ABSTRACT FROM AUTHOR]

A growing body of work on musical haptics focuses on vibrotactile feedback, while musical applications of force feedback, though more than four decades old, are sparser. This paper reviews related work combining music and haptics, focusing on force feedback. We then discuss the limitations of these works and elicit the main challenges in current applications of force feedback and music (FF&M), which are as follows: modularity; replicability; affordability; and usability. We call for the following opportunities in future research works on FF&M: embedding audio and haptic software into hardware modules, networking multiple modules with distributed control, and authoring with audio-inspired and audio-coupled tools. We illustrate our review with recent efforts to develop an affordable, open-source and self-contained 1-Degree-of-Freedom (DoF) rotary force-feedback device for musical applications, i.e., the TorqueTuner, and to embed audio and haptic processing and authoring in module firmware, with ForceHost, and examine their advantages and drawbacks in light of the opportunities presented in the text. [ABSTRACT FROM AUTHOR]