title: A one degree of freedom haptic system to investigate issues in human perception with particular application to probing tissue.
abstract: This paper presents the results of several early studies relating to human haptic perception sensitivity when probing a virtual object. A 1 degree of freedom (DoF) rotary haptic system, that was designed and built for this purpose, is also presented. The experiments were to assess the maximum forces applied in a minimally invasive surgery (MIS) procedure, quantify the compliance sensitivity threshold when probing virtual tissue and identify the haptic system loop rate necessary for haptic feedback to feel realistic.
authors.affiliation: Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, SW7 2AZ, London, UK.
authors.forename: Edward
authors.initials: E
authors.lastname: Dibble
authors.forename: Aleksandar
authors.initials: A
authors.lastname: Zivanovic
authors.forename: Brian
authors.initials: B
authors.lastname: Davies
mesh_terms: D013502:General Surgery / Q000193:education*; D006801:Humans; D010465:Perception; D013514:Surgical Procedures, Operative; D006113:United Kingdom; D014584:User-Computer Interface