Neuromorphic haptic glove and platform with gestural control for tactile sensory feedback in medical telepresence applications
Нема приказа
Аутори
Massari, LucaD'Abbraccio, Jessica
Baldini, Laura
Sorgini, Francesca
Farulla, Giuseppe Airo
Petrović, Petar
Palermo, Eduardo
Oddo, Calogero Maria
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
This paper presents a tactile telepresence system employed for the localization of stiff inclusions embedded in a soft matrix. The system delivers a neuromorphic spike-based haptic feedback, encoding object stiffness, to the human fingertip. For the evaluation of the developed system, in this study a customized silicon phantom was fabricated inserting 12 inclusions made of 4 different polymers (3 replicas for each material). Such inclusions, all of them having the same shape, were encapsulated in a softer silicon matrix in randomized positions. Two main blocks composed the experimental setup. The first sub-setup included an optical sensor for tracking human hand movements and a piezoelectric disk, inserted into a glove at the level of the index fingertip, to deliver tactile feedback. The second sub-setup was a 3-axis cartesian motorized sensing platform which explored the silicon phantom through a spherical indenter mechanically linked to a load cell. The movements of the platform were... based on the acquired hand gestures of the user. The normal force exerted during the active sliding was converted into temporal patterns of spikes through a neuronal model, and delivered to the fingertip via the vibrotactile glove. Inclusions were detected through modulation in the aforementioned patterns generated during the experimental trials. Results suggest that the presented system allows the recognition of the stiffness variation between the encapsulated inclusions and the surrounding matrix. As expected, stiffer inclusions were more frequently discriminated than softer ones, with about 70% of stiffer inclusions being identified in the proposed task. Future works will address the investigation of a larger set of materials in order to evaluate a finer distribution of stiffness values.
Кључне речи:
vibrotactile stimulation / touch / touch psychophysics / Teleoperation / Tactile telepresence / tactile display / sensory augmentation / polymeric phantom / piezoelectric / human hand movement tracking / embedded inclusions localizationИзвор:
2018 Ieee International Symposium on Medical Measurements and Applications (Memea), 2018, 1069-1074Издавач:
- IEEE, New York
Финансирање / пројекти:
- Italian Ministry of Education, Universities and Research within the "Smart Cities and Social Innovation Under 30" program through the PARLOMA Project [SIN_00132]
- Tuscany Region via the IMEROS project (Integrated medical-robotic solutions) activated within the PAR FAS 2007/2013 action 1.1.2 [D66D16000120002
- National Institute for Insurance against Accidents at Work (INAIL) via the MOTU project
- Italian Ministry of Foreign Affairs and International Cooperation via the Italy-Serbia bilateral project Human - Robot Co-Working as a Key Enabling Technology for the Factories of Future [PGR00758 / 2017]
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Massari, Luca AU - D'Abbraccio, Jessica AU - Baldini, Laura AU - Sorgini, Francesca AU - Farulla, Giuseppe Airo AU - Petrović, Petar AU - Palermo, Eduardo AU - Oddo, Calogero Maria PY - 2018 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2807 AB - This paper presents a tactile telepresence system employed for the localization of stiff inclusions embedded in a soft matrix. The system delivers a neuromorphic spike-based haptic feedback, encoding object stiffness, to the human fingertip. For the evaluation of the developed system, in this study a customized silicon phantom was fabricated inserting 12 inclusions made of 4 different polymers (3 replicas for each material). Such inclusions, all of them having the same shape, were encapsulated in a softer silicon matrix in randomized positions. Two main blocks composed the experimental setup. The first sub-setup included an optical sensor for tracking human hand movements and a piezoelectric disk, inserted into a glove at the level of the index fingertip, to deliver tactile feedback. The second sub-setup was a 3-axis cartesian motorized sensing platform which explored the silicon phantom through a spherical indenter mechanically linked to a load cell. The movements of the platform were based on the acquired hand gestures of the user. The normal force exerted during the active sliding was converted into temporal patterns of spikes through a neuronal model, and delivered to the fingertip via the vibrotactile glove. Inclusions were detected through modulation in the aforementioned patterns generated during the experimental trials. Results suggest that the presented system allows the recognition of the stiffness variation between the encapsulated inclusions and the surrounding matrix. As expected, stiffer inclusions were more frequently discriminated than softer ones, with about 70% of stiffer inclusions being identified in the proposed task. Future works will address the investigation of a larger set of materials in order to evaluate a finer distribution of stiffness values. PB - IEEE, New York C3 - 2018 Ieee International Symposium on Medical Measurements and Applications (Memea) T1 - Neuromorphic haptic glove and platform with gestural control for tactile sensory feedback in medical telepresence applications EP - 1074 SP - 1069 UR - https://hdl.handle.net/21.15107/rcub_machinery_2807 ER -
@conference{ author = "Massari, Luca and D'Abbraccio, Jessica and Baldini, Laura and Sorgini, Francesca and Farulla, Giuseppe Airo and Petrović, Petar and Palermo, Eduardo and Oddo, Calogero Maria", year = "2018", abstract = "This paper presents a tactile telepresence system employed for the localization of stiff inclusions embedded in a soft matrix. The system delivers a neuromorphic spike-based haptic feedback, encoding object stiffness, to the human fingertip. For the evaluation of the developed system, in this study a customized silicon phantom was fabricated inserting 12 inclusions made of 4 different polymers (3 replicas for each material). Such inclusions, all of them having the same shape, were encapsulated in a softer silicon matrix in randomized positions. Two main blocks composed the experimental setup. The first sub-setup included an optical sensor for tracking human hand movements and a piezoelectric disk, inserted into a glove at the level of the index fingertip, to deliver tactile feedback. The second sub-setup was a 3-axis cartesian motorized sensing platform which explored the silicon phantom through a spherical indenter mechanically linked to a load cell. The movements of the platform were based on the acquired hand gestures of the user. The normal force exerted during the active sliding was converted into temporal patterns of spikes through a neuronal model, and delivered to the fingertip via the vibrotactile glove. Inclusions were detected through modulation in the aforementioned patterns generated during the experimental trials. Results suggest that the presented system allows the recognition of the stiffness variation between the encapsulated inclusions and the surrounding matrix. As expected, stiffer inclusions were more frequently discriminated than softer ones, with about 70% of stiffer inclusions being identified in the proposed task. Future works will address the investigation of a larger set of materials in order to evaluate a finer distribution of stiffness values.", publisher = "IEEE, New York", journal = "2018 Ieee International Symposium on Medical Measurements and Applications (Memea)", title = "Neuromorphic haptic glove and platform with gestural control for tactile sensory feedback in medical telepresence applications", pages = "1074-1069", url = "https://hdl.handle.net/21.15107/rcub_machinery_2807" }
Massari, L., D'Abbraccio, J., Baldini, L., Sorgini, F., Farulla, G. A., Petrović, P., Palermo, E.,& Oddo, C. M.. (2018). Neuromorphic haptic glove and platform with gestural control for tactile sensory feedback in medical telepresence applications. in 2018 Ieee International Symposium on Medical Measurements and Applications (Memea) IEEE, New York., 1069-1074. https://hdl.handle.net/21.15107/rcub_machinery_2807
Massari L, D'Abbraccio J, Baldini L, Sorgini F, Farulla GA, Petrović P, Palermo E, Oddo CM. Neuromorphic haptic glove and platform with gestural control for tactile sensory feedback in medical telepresence applications. in 2018 Ieee International Symposium on Medical Measurements and Applications (Memea). 2018;:1069-1074. https://hdl.handle.net/21.15107/rcub_machinery_2807 .
Massari, Luca, D'Abbraccio, Jessica, Baldini, Laura, Sorgini, Francesca, Farulla, Giuseppe Airo, Petrović, Petar, Palermo, Eduardo, Oddo, Calogero Maria, "Neuromorphic haptic glove and platform with gestural control for tactile sensory feedback in medical telepresence applications" in 2018 Ieee International Symposium on Medical Measurements and Applications (Memea) (2018):1069-1074, https://hdl.handle.net/21.15107/rcub_machinery_2807 .