Effect of Delay and Bandwidth on Haptic Task Performance
Performing dextrous tasks with robotic telemanipulation is becoming increasingly important. Teleoperation allows safe access to remote and dangerous settings such as outer space and undersea environments, and can enhance dexterity at small scales and in confined spaces in minimally invasive surgery. Performance of telepresence tasks is often limited by the latency involved in communication over long distances, the bandwidth of the tele-operation system, and the task environment.
This study investigated the effects of different time delays and bandwidth limitations on human task performance during a simple haptic assembly task, based on a typical peg-in-hole model, under static and moving-target conditions. The assembly task is analyzed in terms of two phases. Phase I is free motion phase, where the peg is moved from start-line towards the hole, using visual feed-back, and achieves first contact with rigid surface where the hole is located. Phase II is motion-and-force control phase, after the peg attains first contact and being manipulated into the hole using visual and force feedback; the end-point of Phase II is successful insertion of peg into the hole.
Tactile Shape Displays
We are developing remote palpation systems to convey tactile information from inside a patient’s body to the surgeon’s fingertips during minimally invasive procedures. These new instruments will contain tactile sensors that measure pressure distribution on the instruments as tissue is manipulated. The signals from these sensors will be sampled by a dedicated computer system, which will apply appropriate signal processing algorithms. Finally, the tactile information will be conveyed to the surgeon through tactile “display” devices that recreate the remote pressure distribution on the surgeon’s fingertips.
Researchers: Bill Peine
