title: Enhancing the Performance of Passive Teleoperation Systems via Cutaneous Feedback.
abstract: We introduce a novel method to improve the performance of passive teleoperation systems with force reflection. It consists of integrating kinesthetic haptic feedback provided by common grounded haptic interfaces with cutaneous haptic feedback. The proposed approach can be used on top of any time-domain control technique that ensures a stable interaction by scaling down kinesthetic feedback when this is required to satisfy stability conditions (e.g., passivity) at the expense of transparency. Performance is recovered by providing a suitable amount of cutaneous force through custom wearable cutaneous devices. The viability of the proposed approach is demonstrated through an experiment of perceived stiffness and an experiment of teleoperated needle insertion in soft tissue.
authors.forename: Claudio
authors.initials: C
authors.lastname: Pacchierotti
authors.forename: Asad
authors.initials: A
authors.lastname: Tirmizi
authors.forename: Gianni
authors.initials: G
authors.lastname: Bianchini
authors.forename: Domenico
authors.initials: D
authors.lastname: Prattichizzo
mesh_terms: D000328:Adult; D000465:Algorithms; D004548:Elasticity; D005246:Feedback; D005260:Female; D006801:Humans; D008297:Male; D009339:Needles; D010812:Physical Stimulation / Q000295:instrumentation / Q000379:methods; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods*; D012371:Robotics / Q000295:instrumentation; D017216:Telemedicine / Q000295:instrumentation* / Q000379:methods*; D014110:Touch; D055698:Touch Perception; D055815:Young Adult