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  • Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Li, Min, Ranzani, Tommaso, Sareh, Sina, Seneviratne, Lakmal, Dasgupta, Prokar, Wurdemann, Helge and Althoefer, Kaspar, 2014, Journal Article, Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators Smart Materials and Structures, IOP Science, 23 (9). pp. 1-17. ISSN 0964-1726/23/9/095007

Abstract or Description:

This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback.

Official URL: http://iopscience.iop.org/article/10.1088/0964-172...
Subjects: Other > Engineering > H600 Electronic and Electrical Engineering > H670 Robotics and Cybernetics > H671 Robotics
School or Centre: School of Design
Funders: Seventh Framework Programme of the European Commission under grant agreement 287728
Identification Number or DOI: 10.1088/0964-1726/23/9/095007
Date Deposited: 28 Nov 2017 12:39
Last Modified: 28 Nov 2017 12:39
URI: http://researchonline.rca.ac.uk/id/eprint/2973

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