Skip to main content
SpringerLink
Log in
Book cover

Cutaneous Haptic Feedback in Robotic Teleoperation pp 37–58Cite as

Peg-in-Hole in Simulated and Real Scenarios

  • Chapter
  • First Online:

  • 941 Accesses

Part of the book series: Springer Series on Touch and Haptic Systems ((SSTHS))

Abstract

This chapter presents the second application of the cutaneous-only sensory subtraction approach in robotic teleoperation. It considers a peg-in-hole task, both in virtual and real environments. The master system is composed of two novel 3-DoF fingertip cutaneous displays, attached to the end-effectors of two Omega 3 haptic interfaces. In the first experiment, subjects interact via two virtual spheres with a virtual environment composed of a peg and a board with two holes. In the second experiment, the slave system is composed of a DLR-HIT Hand II attached to a 6-DoF manipulator KUKA KR3, and the remote environment is composed of a peg and a rigid board with two holes. Accordingly to the sensory subtraction approach, the haptic feedback provided by the Omega 3 is substituted with cutaneous feedback provided by the two 3-DoF fingertip cutaneous devices. Results assessed the feasibility and effectiveness of the proposed cutaneous-only approach. Cutaneous feedback was outperformed by full haptic feedback provided by grounded haptic interfaces, but it outperformed conditions providing no force feedback at all. Moreover, cutaneous feedback always kept the system stable, even in the presence of destabilizing factors such as communication delays and hard contacts.

This chapter is reprinted with kind permission from SAGE, originally published in [4].

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   54.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Notes

  1. 1.

    Note that a higher force fed back to the subjects meant a larger penetration into the virtual object and a higher energy expenditure during the grasp. Measuring the average of intensities of the contact forces is a widely-used approach to evaluate energy expenditure during the grasp [22].

References

  1. L. Meli, C. Pacchierotti, D. Prattichizzo, Sensory subtraction in robot-assisted surgery: fingertip skin deformation feedback to ensure safety and improve transparency in bimanual haptic interaction. IEEE Trans. Biomed. Eng. 61(4), 1318–1327 (2014)

    Article  Google Scholar 

  2. B.J. Unger, A. Nicolaidis, P.J. Berkelman, A. Thompson, R.L. Klatzky, R.L. Hollis, Comparison of 3-D haptic peg-in-hole tasks in real and virtual environments, in Proceedings of the IEEE/RJS International Conference on Intelligent Robots and Systems, vol. 3 (2001), pp. 1751–1756

    Google Scholar 

  3. B. Hannaford, L. Wood, D.A. McAffee, H. Zak, Performance evaluation of a six-axis generalized force-reflecting teleoperator. IEEE Trans. Syst. Man Cybern. 21(3), 620–633 (1991)

    Article  Google Scholar 

  4. C. Pacchierotti, L. Meli, F. Chinello, M. Malvezzi, D. Prattichizzo, Cutaneous haptic feedback to ensure the stability of robotic teleoperation systems. Int. J. Robot. Res. (2015) http://ijr.sagepub.com/content/early/2015/10/15/0278364915603135.abstract (in press)

  5. F. Chinello, M. Malvezzi, C. Pacchierotti, D. Prattichizzo, Design and development of a 3RRS wearable fingertip cutaneous device, in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2015)

    Google Scholar 

  6. L. Meli, S. Scheggi, C. Pacchierotti, D. Prattichizzo, Wearable haptics and hand tracking via an RGB-D camera for immersive tactile experiences, in Proceedings of the ACM Special Interest Group on Computer Graphics and Interactive Techniques Conference (2014), p. 56

    Google Scholar 

  7. C. Pacchierotti, F. Chinello, M. Malvezzi, L. Meli, D. Prattichizzo, Two finger grasping simulation with cutaneous and kinesthetic force feedback. Haptics: Percept. Devices Mobil. Commun. 7282, 373–382 (2012)

    Google Scholar 

  8. M.A. Srinivasan, K. Dankekar, An investigation of the mechanics of tactile sense using two dimensional models of the primate fingertip. Trans. ASME, J. Biomech. Eng. 118, 48–55 (1996)

    Article  Google Scholar 

  9. E.R. Serina, E. Mockensturm, C.D. Mote Jr, D. Rempel, A structural model of the forced compression of the fingertip pulp. J. Biomech. 31(7), 639–646 (1998)

    Article  Google Scholar 

  10. T. Cook, H. Alexander, M. Cohen, Experimental method for determining the 2-dimensional mechanical properties of living human skin. Med. Biol. Eng. Comput. 15(4), 381–390 (1977)

    Article  Google Scholar 

  11. M. Srinivasan, R.J. Gulati, K. Dandekar, In vivo compressibility of the human fingertip. ASME Bioeng. Decis. Publ. 22, 573–576 (1992)

    Google Scholar 

  12. E.R. Serina, C.D. Mote et al., Force response of the fingertip pulp to repeated compression-effects of loading rate, loading angle and anthropometry. J. Biomech. 30(10), 1035–1040 (1997)

    Article  Google Scholar 

  13. N. Nakazawa, R. Ikeura, H. Inooka, Characteristics of human fingertips in the shearing direction. Biol. Cybern. 82(3), 207–214 (2000). ISSN: 0340-1200

    Article  Google Scholar 

  14. Q. Wang, V. Hayward, In vivo biomechanics of the fingerpad skin under local tangential traction. J. Biomech. 40, 851–860 (2007)

    Article  Google Scholar 

  15. M. Wiertlewski, V. Hayward, Mechanical behavior of the fingertip in the range of frequencies and displacements relevant to touch. J. Biomech. 45(11), 1869–1874 (2012)

    Article  Google Scholar 

  16. K. Salisbury, C. Tarr, Haptic rendering of surfaces defined by implicit functions, in Proceedings of the ASME Dynamic Systems and Control Division, vol. 61 (1997), pp. 61–67

    Google Scholar 

  17. M. Solazzi, W.R. Provancher, A. Frisoli, M. Bergamasco, Design of a SMA actuated 2-DoF tactile device for displaying tangential skin displacement, in Proceedings of the IEEEWorld Haptics Conference (2011), pp. 31–36

    Google Scholar 

  18. Z.F. Quek, S.B. Schorr, I. Nisky, A.M. Okamura, W.R. Provancher, Sensory augmentation of stiffness using fingerpad skin stretch, in Proceedings of the World Haptics Conference (2013), pp. 467–472

    Google Scholar 

  19. K.H. Park, B.H. Kim, S. Hirai, Development of a soft-fingertip and its modeling based on force distribution, in Proceedings of the of IEEE International Conference on Robotics and Automation, vol. 3 (2003), pp. 3169–3174

    Google Scholar 

  20. C.B. Zilles, J.K. Salisbury, A constraint-based god-object method for haptic display, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3 (1995), pp. 146–151

    Google Scholar 

  21. M.J. Massimino, T.B. Sheridan, Sensory substitution for force feedback in teleoperation. Presence: Teleoperators Virtual Environ. 2(4), 344–352 (1993)

    Article  Google Scholar 

  22. D. Prattichizzo, J. Trinkle, Chapter 28 on grasping, in Handbook on Robotics (Springer, Berlin, 2008), pp. 671–700

    Google Scholar 

  23. M. Franken, S. Stramigioli, S. Misra, C. Secchi, A. Macchelli, Bilateral telemanipulation with time delays: a two-layer approach combining passivity and transparency. IEEE Trans. Robot. 27(4), 741–756 (2011)

    Article  Google Scholar 

  24. D. Prattichizzo, C. Pacchierotti, G. Rosati, Cutaneous force feedback as a sensory subtraction technique in haptics. IEEE Trans. Haptics 5(4), 289–300 (2012)

    Article  Google Scholar 

  25. C. Pacchierotti, A. Tirmizi, D. Prattichizzo, Improving transparency in teleoperation by means of cutaneous tactile force feedback. ACM Trans. Appl. Percept. 11(1), 4:1–4:16 (2014)

    Article  Google Scholar 

  26. C. Pacchierotti, F. Chinello, D. Prattichizzo, Cutaneous device for teleoperated needle insertion, in Proceedings of the 4th IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (2012), pp. 32–37

    Google Scholar 

  27. C. Pacchierotti, D. Prattichizzo, K.J. Kuchenbecker, Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery, IEEE Trans. Biomed. Eng. in press (2015)

    Google Scholar 

  28. C. Pacchierotti, A. Tirmizi, G. Bianchini, D. Prattichizzo, Enhancing the performance of passive teleoperation systems via cutaneous feedback, IEEE Trans. Haptics in press (2015)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Via Morego, 30, 16163, Genoa, Italy

    Claudio Pacchierotti

Authors
  1. Claudio Pacchierotti
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Claudio Pacchierotti .

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Pacchierotti, C. (2016). Peg-in-Hole in Simulated and Real Scenarios. In: Cutaneous Haptic Feedback in Robotic Teleoperation. Springer Series on Touch and Haptic Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-25457-9_3

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-25457-9_3

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-25455-5

  • Online ISBN: 978-3-319-25457-9

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation