Perception and action in simulated telesurgery

Ilana Nisky, Assaf Pressman, Carla M. Pugh, Ferdinando A. Mussa-Ivaldi, Amir Karniel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


We studied the effect of delay on perception and action in contact with a force field that emulates elastic soft tissue with a specific rigid nonlinear boundary. Such field is similar to forces exerted on a needle during teleoperated needle insertion tasks. We found that a nonlinear boundary region causes both psychometric and motor overestimation of stiffness, and that delay causes motor but not psychometric underestimation of the stiffness of this nonlinear soft tissue. In addition we show that changing the teleoperation channel gain reduces and can even cancel the motor effect of delay.

Original languageEnglish
Title of host publicationHaptics
Subtitle of host publicationGenerating and Perceiving Tangible Sensations - International Conference, EuroHaptics 2010, Proceedings
Number of pages6
EditionPART 1
StatePublished - 6 Aug 2010
EventInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010 - Amsterdam, Netherlands
Duration: 8 Jul 201010 Jul 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume6191 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


ConferenceInternational Conference on Haptics: Generating and Perceiving Tangible Sensations, EuroHaptics 2010


  • action
  • delay
  • needle insertion
  • perception
  • telesurgery

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science (all)


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