TY - JOUR
T1 - Task Dynamics of Prior Training Influence Visual Force Estimation Ability during Teleoperation
AU - Chua, Zonghe
AU - Jarc, Anthony M.
AU - Wren, Sherry M.
AU - Nisky, Ilana
AU - Okamura, Allison M.
N1 - Funding Information: This work was supported in part by the Stanford University, Intuitive Surgical, Inc.; in part by the Israeli Science Foundation under Grant 823/15; in part by the Israeli Ministry of Science and Technology via the Israel-Italy Virtual Lab on Artificial Somatosensation for Humans and Humanoids; and in part by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Initiative of Ben-Gurion University of Negev. Publisher Copyright: © 2018 IEEE.
PY - 2020/11/1
Y1 - 2020/11/1
N2 - The lack of haptic feedback in teleoperation is a potential barrier to safe handling of soft materials, yet in Robot-assisted Minimally Invasive Surgery (RMIS), haptic feedback is often unavailable. Due to its availability in open and laparoscopic surgery, surgeons with such experience potentially possess learned models of tissue stiffness that might promote good force estimation abilities during RMIS. To test if prior haptic experience leads to improved force estimation ability in teleoperation, 33 naive participants were assigned to one of three training conditions: manual manipulation, teleoperation with force feedback, or teleoperation without force feedback, and learned to tension a silicone sample to a set of forces. They were then asked to perform the tension task, and a previously unencountered palpation task, to a different set of forces under teleoperation without force feedback. Compared to the teleoperation groups, the manual group had higher force error in the tension task outside the range of forces they had trained on, but showed better speed-accuracy functions in the palpation task at low force levels. This suggests that the dynamics of the training modality affect force estimation ability during teleoperation, with the prior haptic experience accessible if formed under the same dynamics as the task.
AB - The lack of haptic feedback in teleoperation is a potential barrier to safe handling of soft materials, yet in Robot-assisted Minimally Invasive Surgery (RMIS), haptic feedback is often unavailable. Due to its availability in open and laparoscopic surgery, surgeons with such experience potentially possess learned models of tissue stiffness that might promote good force estimation abilities during RMIS. To test if prior haptic experience leads to improved force estimation ability in teleoperation, 33 naive participants were assigned to one of three training conditions: manual manipulation, teleoperation with force feedback, or teleoperation without force feedback, and learned to tension a silicone sample to a set of forces. They were then asked to perform the tension task, and a previously unencountered palpation task, to a different set of forces under teleoperation without force feedback. Compared to the teleoperation groups, the manual group had higher force error in the tension task outside the range of forces they had trained on, but showed better speed-accuracy functions in the palpation task at low force levels. This suggests that the dynamics of the training modality affect force estimation ability during teleoperation, with the prior haptic experience accessible if formed under the same dynamics as the task.
KW - Haptic interfaces
KW - cognition
KW - human-computer interfaces
KW - medical robotics
KW - multisensory integration
UR - http://www.scopus.com/inward/record.url?scp=85108785918&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/TMRB.2020.3023005
DO - https://doi.org/10.1109/TMRB.2020.3023005
M3 - Article
SN - 2576-3202
VL - 2
SP - 586
EP - 597
JO - IEEE Transactions on Medical Robotics and Bionics
JF - IEEE Transactions on Medical Robotics and Bionics
IS - 4
M1 - 9189819
ER -