HapticV1, Main, Exploration, bibRecord, 001552

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Identifieur interne : 001552 ( Main/Exploration ); précédent : 001551; suivant : 001553

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Auteurs : MIN LI [Royaume-Uni] ; Tommaso Ranzani [Italie] ; Sina Sareh [Royaume-Uni] ; Lakmal D. Seneviratne [Royaume-Uni, Émirats arabes unis] ; Prokar Dasgupta [Royaume-Uni] ; Helge A. Wurdemann [Royaume-Uni] ; Kaspar Althoefer [Royaume-Uni]

Source :

Smart materials and structures [ 0964-1726 ] ; 2014.

RBID : Pascal:14-0229530

Descripteurs français

Pascal (Inist)
- Rigidité, Actionneur, Robotique, Capteur, Indentation, Relation contrainte déformation, Commande, Palpation, Génie biomédical, Hystérésis mécanique, Boucle réaction, Interface haptique.
Wicri :
- topic : Robotique.

English descriptors

KwdEn :
- Actuators, Biomedical engineering, Control, Feedback, Haptic interfaces, Indentation, Mechanical hysteresis, Palpation, Robotics, Sensors, Stiffness, Stress-strain relations.

Abstract

This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback.

Affiliations:

Italie, Royaume-Uni, Émirats arabes unis

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000026
to stream PascalFrancis, to step Curation: 001237
to stream PascalFrancis, to step Checkpoint: 000032
to stream Main, to step Merge: 001558
to stream Main, to step Curation: 001552

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators</title>
<author><name sortKey="Min Li" sort="Min Li" uniqKey="Min Li" last="Min Li">MIN LI</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Ranzani, Tommaso" sort="Ranzani, Tommaso" uniqKey="Ranzani T" first="Tommaso" last="Ranzani">Tommaso Ranzani</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>BioRobotics Institute, Scuola Superiore Sant'Anna</s1>
<s2>Pisa</s2>
<s3>ITA</s3>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>Pisa</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Sareh, Sina" sort="Sareh, Sina" uniqKey="Sareh S" first="Sina" last="Sareh">Sina Sareh</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Seneviratne, Lakmal D" sort="Seneviratne, Lakmal D" uniqKey="Seneviratne L" first="Lakmal D." last="Seneviratne">Lakmal D. Seneviratne</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
<affiliation wicri:level="1"><inist:fA14 i1="04"><s1>College of Engineering, Khalifa University of Science, Technology and Research</s1>
<s2>Abu Dhabi</s2>
<s3>ARE</s3>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Émirats arabes unis</country>
<wicri:noRegion>Abu Dhabi</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Dasgupta, Prokar" sort="Dasgupta, Prokar" uniqKey="Dasgupta P" first="Prokar" last="Dasgupta">Prokar Dasgupta</name>
<affiliation wicri:level="1"><inist:fA14 i1="03"><s1>Medical Research Council (MRC) Centre for Transplantation, King's College London, King's Health Partners, Guy's Hospital</s1>
<s2>London SE1 9RT</s2>
<s3>GBR</s3>
<sZ>5 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London SE1 9RT</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Wurdemann, Helge A" sort="Wurdemann, Helge A" uniqKey="Wurdemann H" first="Helge A." last="Wurdemann">Helge A. Wurdemann</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Althoefer, Kaspar" sort="Althoefer, Kaspar" uniqKey="Althoefer K" first="Kaspar" last="Althoefer">Kaspar Althoefer</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">14-0229530</idno>
<date when="2014">2014</date>
<idno type="stanalyst">PASCAL 14-0229530 INIST</idno>
<idno type="RBID">Pascal:14-0229530</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000026</idno>
<idno type="wicri:Area/PascalFrancis/Curation">001237</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000032</idno>
<idno type="wicri:doubleKey">0964-1726:2014:Min Li:multi:fingered:haptic</idno>
<idno type="wicri:Area/Main/Merge">001558</idno>
<idno type="wicri:Area/Main/Curation">001552</idno>
<idno type="wicri:Area/Main/Exploration">001552</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators</title>
<author><name sortKey="Min Li" sort="Min Li" uniqKey="Min Li" last="Min Li">MIN LI</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Ranzani, Tommaso" sort="Ranzani, Tommaso" uniqKey="Ranzani T" first="Tommaso" last="Ranzani">Tommaso Ranzani</name>
<affiliation wicri:level="1"><inist:fA14 i1="02"><s1>BioRobotics Institute, Scuola Superiore Sant'Anna</s1>
<s2>Pisa</s2>
<s3>ITA</s3>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>Pisa</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Sareh, Sina" sort="Sareh, Sina" uniqKey="Sareh S" first="Sina" last="Sareh">Sina Sareh</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Seneviratne, Lakmal D" sort="Seneviratne, Lakmal D" uniqKey="Seneviratne L" first="Lakmal D." last="Seneviratne">Lakmal D. Seneviratne</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
<affiliation wicri:level="1"><inist:fA14 i1="04"><s1>College of Engineering, Khalifa University of Science, Technology and Research</s1>
<s2>Abu Dhabi</s2>
<s3>ARE</s3>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Émirats arabes unis</country>
<wicri:noRegion>Abu Dhabi</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Dasgupta, Prokar" sort="Dasgupta, Prokar" uniqKey="Dasgupta P" first="Prokar" last="Dasgupta">Prokar Dasgupta</name>
<affiliation wicri:level="1"><inist:fA14 i1="03"><s1>Medical Research Council (MRC) Centre for Transplantation, King's College London, King's Health Partners, Guy's Hospital</s1>
<s2>London SE1 9RT</s2>
<s3>GBR</s3>
<sZ>5 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London SE1 9RT</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Wurdemann, Helge A" sort="Wurdemann, Helge A" uniqKey="Wurdemann H" first="Helge A." last="Wurdemann">Helge A. Wurdemann</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Althoefer, Kaspar" sort="Althoefer, Kaspar" uniqKey="Althoefer K" first="Kaspar" last="Althoefer">Kaspar Althoefer</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Informatics, King's College London</s1>
<s2>London, WC2R 2LS</s2>
<s3>GBR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>6 aut.</sZ>
<sZ>7 aut.</sZ>
</inist:fA14>
<country>Royaume-Uni</country>
<wicri:noRegion>London, WC2R 2LS</wicri:noRegion>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">Smart materials and structures</title>
<title level="j" type="abbreviated">Smart mater. struc.</title>
<idno type="ISSN">0964-1726</idno>
<imprint><date when="2014">2014</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">Smart materials and structures</title>
<title level="j" type="abbreviated">Smart mater. struc.</title>
<idno type="ISSN">0964-1726</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Actuators</term>
<term>Biomedical engineering</term>
<term>Control</term>
<term>Feedback</term>
<term>Haptic interfaces</term>
<term>Indentation</term>
<term>Mechanical hysteresis</term>
<term>Palpation</term>
<term>Robotics</term>
<term>Sensors</term>
<term>Stiffness</term>
<term>Stress-strain relations</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Rigidité</term>
<term>Actionneur</term>
<term>Robotique</term>
<term>Capteur</term>
<term>Indentation</term>
<term>Relation contrainte déformation</term>
<term>Commande</term>
<term>Palpation</term>
<term>Génie biomédical</term>
<term>Hystérésis mécanique</term>
<term>Boucle réaction</term>
<term>Interface haptique</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback.</div>
</front>
</TEI>
<affiliations><list><country><li>Italie</li>
<li>Royaume-Uni</li>
<li>Émirats arabes unis</li>
</country>
</list>
<tree><country name="Royaume-Uni"><noRegion><name sortKey="Min Li" sort="Min Li" uniqKey="Min Li" last="Min Li">MIN LI</name>
</noRegion>
<name sortKey="Althoefer, Kaspar" sort="Althoefer, Kaspar" uniqKey="Althoefer K" first="Kaspar" last="Althoefer">Kaspar Althoefer</name>
<name sortKey="Dasgupta, Prokar" sort="Dasgupta, Prokar" uniqKey="Dasgupta P" first="Prokar" last="Dasgupta">Prokar Dasgupta</name>
<name sortKey="Sareh, Sina" sort="Sareh, Sina" uniqKey="Sareh S" first="Sina" last="Sareh">Sina Sareh</name>
<name sortKey="Seneviratne, Lakmal D" sort="Seneviratne, Lakmal D" uniqKey="Seneviratne L" first="Lakmal D." last="Seneviratne">Lakmal D. Seneviratne</name>
<name sortKey="Wurdemann, Helge A" sort="Wurdemann, Helge A" uniqKey="Wurdemann H" first="Helge A." last="Wurdemann">Helge A. Wurdemann</name>
</country>
<country name="Italie"><noRegion><name sortKey="Ranzani, Tommaso" sort="Ranzani, Tommaso" uniqKey="Ranzani T" first="Tommaso" last="Ranzani">Tommaso Ranzani</name>
</noRegion>
</country>
<country name="Émirats arabes unis"><noRegion><name sortKey="Seneviratne, Lakmal D" sort="Seneviratne, Lakmal D" uniqKey="Seneviratne L" first="Lakmal D." last="Seneviratne">Lakmal D. Seneviratne</name>
</noRegion>
</country>
</tree>
</affiliations>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001552 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 001552 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    Main
   |étape=   Exploration
   |type=    RBID
   |clé=     Pascal:14-0229530
   |texte=   Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri