Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence
2019
Аутори
D'Abbraccio, JessicaMassari, Luca
Prasanna, Sahana
Baldini, Laura
Sorgini, Francesca
Farulla, Giuseppe Airo
Bulletti, Andrea
Mazzoni, Marina
Capineri, Lorenzo
Menciassi, Arianna
Petrović, Petar
Palermo, Eduardo
Oddo, Calogero Maria
Чланак у часопису (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting sensory perception during object palpation in tele-surgery and reproducing the sensed information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform and the user being 50 km apart. We found that the entailed percentage of identification was higher ...for stiffer inclusions with respect to the softer ones (average of 74% within the duration of the task), in both telepresence conditions evaluated. These promising results call for further exploration of tactile augmentation technology for telepresence in medical interventions.
Кључне речи:
vibro-tactile stimulation / tele-palpation / teleoperation / tactile telepresence / sensory augmentation / polymeric phantom / nodules detection / neuromorphic touchИзвор:
Sensors, 2019, 19, 3Издавач:
- MDPI, Basel
Финансирање / пројекти:
- Dubai Future Foundation through Guaana.com open research platform
- National Institute for Insurance against Accidents at Work (INAIL) through the MOTU project
- Italian Ministry of Education, Universities and Research within the "Smart Cities and Social Innovation Under 30" program through the PARLOMA Project [SIN_00132]
- Italian Ministry of Foreign Affairs and International Cooperation [PGR00758/2017]
- Tuscany Region through the IMEROS project [D66D16000120002
DOI: 10.3390/s19030641
ISSN: 1424-8220
PubMed: 30717482
WoS: 000459941200204
Scopus: 2-s2.0-85061120191
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - D'Abbraccio, Jessica AU - Massari, Luca AU - Prasanna, Sahana AU - Baldini, Laura AU - Sorgini, Francesca AU - Farulla, Giuseppe Airo AU - Bulletti, Andrea AU - Mazzoni, Marina AU - Capineri, Lorenzo AU - Menciassi, Arianna AU - Petrović, Petar AU - Palermo, Eduardo AU - Oddo, Calogero Maria PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3088 AB - Advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting sensory perception during object palpation in tele-surgery and reproducing the sensed information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform and the user being 50 km apart. We found that the entailed percentage of identification was higher for stiffer inclusions with respect to the softer ones (average of 74% within the duration of the task), in both telepresence conditions evaluated. These promising results call for further exploration of tactile augmentation technology for telepresence in medical interventions. PB - MDPI, Basel T2 - Sensors T1 - Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence IS - 3 VL - 19 DO - 10.3390/s19030641 ER -
@article{ author = "D'Abbraccio, Jessica and Massari, Luca and Prasanna, Sahana and Baldini, Laura and Sorgini, Francesca and Farulla, Giuseppe Airo and Bulletti, Andrea and Mazzoni, Marina and Capineri, Lorenzo and Menciassi, Arianna and Petrović, Petar and Palermo, Eduardo and Oddo, Calogero Maria", year = "2019", abstract = "Advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting sensory perception during object palpation in tele-surgery and reproducing the sensed information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform and the user being 50 km apart. We found that the entailed percentage of identification was higher for stiffer inclusions with respect to the softer ones (average of 74% within the duration of the task), in both telepresence conditions evaluated. These promising results call for further exploration of tactile augmentation technology for telepresence in medical interventions.", publisher = "MDPI, Basel", journal = "Sensors", title = "Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence", number = "3", volume = "19", doi = "10.3390/s19030641" }
D'Abbraccio, J., Massari, L., Prasanna, S., Baldini, L., Sorgini, F., Farulla, G. A., Bulletti, A., Mazzoni, M., Capineri, L., Menciassi, A., Petrović, P., Palermo, E.,& Oddo, C. M.. (2019). Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence. in Sensors MDPI, Basel., 19(3). https://doi.org/10.3390/s19030641
D'Abbraccio J, Massari L, Prasanna S, Baldini L, Sorgini F, Farulla GA, Bulletti A, Mazzoni M, Capineri L, Menciassi A, Petrović P, Palermo E, Oddo CM. Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence. in Sensors. 2019;19(3). doi:10.3390/s19030641 .
D'Abbraccio, Jessica, Massari, Luca, Prasanna, Sahana, Baldini, Laura, Sorgini, Francesca, Farulla, Giuseppe Airo, Bulletti, Andrea, Mazzoni, Marina, Capineri, Lorenzo, Menciassi, Arianna, Petrović, Petar, Palermo, Eduardo, Oddo, Calogero Maria, "Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence" in Sensors, 19, no. 3 (2019), https://doi.org/10.3390/s19030641 . .