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A novel two-degree-of-freedom tactile display reproduces the sensations of sliding contact and incipient slip through the rotation of a ball positioned under the user's fingertip. A pair of motor-driven wheels actuates the ball via contact friction. Mechanical performance requirements are used to define the dimensions and construction method of the device.(More)
— Haptic virtual fixtures have been shown to improve user performance and increase the safety of robot-assisted tasks, particularly for surgical applications. However, little research has studied virtual fixtures that provide moving force constraints based on motion of the environment, e.g., organ movement due to heartbeat or respiration. This work(More)
For many telemanipulators, it is often impractical to provide the same number of degrees of freedom for position control at the slave and force feedback to the master. Sensor/actuator asymmetries in telemanipulators are created when the user is able to position the telemanipulator in more degrees of freedom then the telemanip-ulator can provide force(More)
Many high-degree-of-freedom haptic devices and teleop-erator systems either do not have grippers or do not provide force feedback in the gripper degree of freedom (DOF). The purpose of this work is to determine the effect of gripper force feedback in relation to Cartesian (translational) force feedback on the execution of telemanipulation tasks. We(More)
A major benefit of educational robotics is its hands-on nature. This makes the learning process more compelling for most students, and underscores the connection between science, technology, engineering, and math (STEM) theory and physical reality. Educational haptics takes this premise a step further: haptic devices that provide force and tactile feedback(More)
Laparoscopic surgical procedures require precise hand and eye coordination based on a 2-dimensional representation of 3-dimensional space. Currently, no metric exists to guide the educational process while surgeons are still on the learning curve. In this paper, we propose to identify and qualify the patterns of movements recorded from the da Vinci robotic(More)
Laparoscopic surgery requires surgeons to perform complex procedures using a standardized set of tools. Most tools, including the common forceps, do not currently provide surgeons with comfortable, intuitive control. A new laparoscopic forceps tool has been designed which follows ergonomics principles for the handle and actuation of an articulated forceps(More)