Abstract
Skin deformation has been previously shown as vital for lump detection during the direct manipulation of an object. A deformation-based tactile feedback system is developed and presented that senses and displays this tactile information for palpation in tele-surgical applications. A biologically-inspired tactile sensor modelled from the human fingertip is used to obtain the skin deformation during interaction. It does this by measuring the displacement of the sensor’s artificial intermediate epidermal ridges using a simple, computationally-efficient algorithm. The design of a previously-published tactile shape display is then recreated and improved for relaying this sensed information on to a human user’s fingertip. This tactile display uses remote actuation to reduce the mass of the display, avoiding the issue of adding a large mass to a tele-operation interface. The tactors within the developed display exhibit 2.5 mm displacement, with a 2.5 mm spacing, 12 Hz bandwidth and a stiffness of 5.0 N/mm. A linear relationship is found between sensor deformation and tactor displacement and the spatial performance of the system is proven by successfully detecting lumps within artificial muscle tissue. This new deformation-based tactile system offers an intuitive sense of touch with minimal processing.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Lanfranco, A., Castellanos, A., Desai, J., Meyers, W.: Robotic surgery: a current perspective. Annals of Surgery 239(1), 14–21 (2004)
Okamura, A.M.: Haptic Feedback in Robot-Assisted Minimally Invasive Surgery. Curr. Opin. Urol. 19(1), 102–107 (2009)
Bholat, O., Haluck, R., Murray, W., Gorman, P., Krummel, T.: Tactile Feedback Is Present During Minimally Invasive Surgery. Journal of the American College of Surgeons 189(4), 349–355 (1999)
Peine, W., Howe, R.: Do humans sense finger deformation or distributed pressure to detect lumps in soft tissue? In: Proceedings of the ASME Dynamic Systems and Control Division, Anaheim CA, vol. 64, pp. 273–278 (1998)
Bensmaïa, S., Hollins, M.: The vibrations of texture. Somatosensory & Motor Research 20(1), 33–43 (2003)
Ottermo, M.: Virtual Palpation Gripper. Ph.D. Thesis of Norwegian University of Science & Technology (2006)
Yamauchi, T., Okamoto, S., Konyo, M., Hidaka, Y., Maeno, T., Tadokoro, S.: Real-Time Remote Transmission of Multiple Tactile Properties through Master-Slave Robot System. In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation, pp. 1753–1760 (2010)
Sato, K., Minamizawa, K., Kawakami, N., Tachi, S.: Haptic telexistence. In: International Conference on Computer Graphics and Interactive Techniques (2007)
Moy, G., Wagner, C., Fearing, R.: A Compliant Tactile Display for Teletaction. In: Proceedings of the 2000 IEEE International Conference on Robotics & Automation, pp. 3409–3415 (2000)
Howe, R., Peine, W., Kontarinis, D., Son, J.: Remote Palpation Technology for Surgical Applications. IEEE Engineering in Medicine and Biology Magazine 14(3), 318–323 (1995)
Peine, W.J., Wellman, P., Howe, R.D.: Temporal bandwidth requirements for tactile shape displays. In: Proceedings of ASME Dynamic Systems and Control Division, New York, pp. 107–114 (1997)
Sarakoglou, I., Tsagarakis, N., Caldwell, D.: A Portable Fingertip Tactile Feedback Array – Transmission System Reliability and Modelling. In: Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 547–548 (2005)
Chorley, C., Melhuish, C., Pipe, T., Rossiter, J.: Development of a tactile sensor based on biologically inspired edge encoding. In: International Conference on Advanced Robotics, ICAR 2009, Munich, pp. 1–6 (2009)
Kattavenos, N., Lawrenson, B., Frank, T., Pridham, M., Keatch, R., Cuschieri, A.: Force-sensitive tactile sensor for minimal access surgery. Min. Invas. Ther. & Allied Technol. 13(1), 42–46 (2004)
Schostek, S., Ho, C., Kalanovic, D., Schurr, M.: Artificial tactile sensing in minimally invasive surgery - a new technical approach. Minimally Invasive Therapy 15, 296–304 (2006)
Puangmali, P., Althoefer, K., Seneviratne, L., Murphy, D., Dasgupta, P.: State-of-the-art in force and tactile sensing for minimally invasive surgery. IEEE Sensors Journal 4(2), 371–381 (2008)
Wagner, C., Lederman, S., Howe, R.: A Tactile Shape Display Using RC Servomotors. In: Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. 3, pp. 354–356 (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Roke, C., Melhuish, C., Pipe, T., Drury, D., Chorley, C. (2011). Deformation-Based Tactile Feedback Using a Biologically-Inspired Sensor and a Modified Display. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds) Towards Autonomous Robotic Systems. TAROS 2011. Lecture Notes in Computer Science(), vol 6856. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23232-9_11
Download citation
DOI: https://doi.org/10.1007/978-3-642-23232-9_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23231-2
Online ISBN: 978-3-642-23232-9
eBook Packages: Computer ScienceComputer Science (R0)