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Robot-assisted surgery is widely adopted for many procedures but has not realized its full potential to date. Based on human motor control theories, the authors hypothesized that the dynamics of the master manipulators impose challenges on the motor system of the user and may impair performance and slow down learning. Although studies have shown that(More)
Isometric reaching, in which the arm remains stationary and the user controls a virtual cursor via force input, is a motor task that has not been thoroughly compared to real reaching. In this study, we ask if isometric adaptation to a kinematic perturbation is similar to adaptation in movement, and if the type of isometric mapping (position or velocity(More)
During tool-mediated interaction with everyday objects, we experience kinesthetic forces and tactile sensations in the form of vibration and skin deformation at the fingerpad. Fingerpad skin deformation is caused by forces applied tangentially and normally to the fingerpad skin, resulting in tangential and normal skin displacement. We designed a device to(More)
Classic studies in human sensorimotor control use simplified tasks to uncover fundamental control strategies employed by the nervous system. Such simple tasks are critical for isolating specific features of motor, sensory, or cognitive processes, and for inferring causality between these features and observed behavioral changes. However, it remains unclear(More)
We have developed a novel approach for detection of cancer based on biochemical analysis of peripheral blood plasma using Fourier transform infrared spectroscopy. This approach has proven to be quick, safe, minimal invasive, and effective. Our approach recognizes any signs of solid tumor presence, regardless of location in the body or cancer type by(More)
The stiffness of the environment with which we come in contact is the local derivative of a force field. The boundary of an elastic field is a singular region where local stiffness is ill-defined. We found that subjects interacting with delayed force fields tend to underestimate stiffness if they do not move across the boundary. In contrast, they tend to(More)
We studied the effect of delay on perception and action in contact with a force field that emulates elastic soft tissue with a rigid nonlinear boundary. Such a field is similar to forces exerted on a needle during teleoperated needle insertion. We found that delay causes motor underestimation of the stiffness of this nonlinear soft tissue, without(More)
When interacting with everyday objects, we experience kinesthetic force feedback as well as various forms of cutaneous tactile feedback. Skin stretch is part of the cutaneous tactile experience that is caused by friction between the skin and the grasped object. Interacting with stiffer objects causes larger force, and results in a larger amount of skin(More)
During interaction with robotic manipulanda, the human brain constructs internal representations of the environment imposed by the robotic device. These representations (i) provide cognitive interpretation of the interfaced environment and (ii) generate motor commands for future interaction with the imposed environment. Interestingly, cognitive and motor(More)
In the Turing test, a computer model is deemed to " think intelligently " if it can generate answers that are not distinguishable from those of a human. This test is limited to the linguistic aspects of machine intelligence. A salient function of the brain is the control of movement, with the human hand movement being a sophisticated demonstration of this(More)