Sensory substitution of force and torque using 6-DoF tangential and normal skin deformation feedback

Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, William R. Provancher, Allison M. Okamura

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

18 Scopus citations

Abstract

When a person interacts with an environment using a tool, he/she receives tactile information in the form of fingerpad skin deformation. Different interaction forces and torques on the tool cause different skin deformation patterns on the fingerpads. We designed a 6-degree-of-freedom tactile device that creates similar skin deformation patterns on the fingerpads. The device communicates force and torque information by translating and rotating skin deformation tactors relative to the fingerpads. An experiment was conducted to determine participants' ability to use skin deformation tactile cues to perform a peg-in-hole insertion task. Results show that participants can use the tactile cues to reduce interaction force and torque, and they use the tactile force cues to reduce interaction force more than they use the tactile torque cues to reduce interaction torque. Rendering force and torque cues simultaneously causes device saturation and degrades user performance. These results suggest that additional training may help participants use the skin deformation torque cues, and motivate a tactile device design that decouples force and torque skin deformation rendering to minimize device saturation. Fingerpad skin deformation is a promising form of tactile feedback to convey force and torque information in teleoperation systems such as robot-assisted surgery, where force feedback may be undesirable due to stability and safety concerns.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages264-271
Number of pages8
EditionJune
ISBN (Electronic)9781479969234
DOIs
StatePublished - 29 Jun 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
NumberJune
Volume2015-June
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period26/05/1530/05/15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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