Effect of Impedance-Shaping on Perception of Soft Tissues in Macro-Micro Teleoperation

Title
Effect of Impedance-Shaping on Perception of Soft Tissues in Macro-Micro Teleoperation
Authors
Il Son, HyoungTapomayukh BhattacharjeeHashimoto, Hideki
Keywords
Impedance shaping (IS); kinesthetic perception; psychophysics; soft tissue; teleoperation
Issue Date
2012-08
Publisher
IEEE transactions on industrial electronics
Citation
VOL 59, NO 8, 3273-3285
Abstract
This paper aims at analyzing the effect of widely known impedance-shaping (IS) control method on the perception of soft tissues in telemicrosurgical applications. The generalized teleoperation control architecture has been modified to include the IS term. New performance index has been defined based on the two proposed indices for the detection and the discrimination of the soft environments to analyze the effect of this modified control on the kinesthetic perception of soft tissues. The effect is then theoretically analyzed on the conventional position–position, force–position, and four-channel control architectures based on the newly defined index. The effectiveness of this newly proposed kinesthetic perception index is also verified using psychophysics experiments. The theoretical analysis of the effects of the IS method on the perception of soft tissues is then validated using the proposed index by experiments with phantom soft tissues for conventional teleoperation architectures.
URI
http://pubs.kist.re.kr/handle/201004/44420
ISSN
02780046
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KIST Publication > Article
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