Soft Control Interface for Highly Dexterous Unilateral Remote Palpation
Soft Control Interface for Highly Dexterous Unilateral Remote Palpation
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DOI：
10.1109/biorob52689.2022.9925318
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发表时间：
2022-08
期刊：
影响因子：
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通讯作者：
Leone Costi;T. Lalitharatne;F. Iida
中科院分区：
文献类型：
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作者：
Leone Costi;T. Lalitharatne;F. Iida
实现远程呈现是阻止医疗机器人渗透到初级保健领域和执行远程触诊等任务的最大挑战。要做到这一点，用户界面至关重要：理想情况下，它将重现与亲自任务相似的条件，从而实现直观和自然的效果。许多研究集中在触觉和触觉反馈的高保真度，忽视了控制界面的重要性。另一方面，最先进的软控制界面展示了高远程呈现但低灵活性，限制了用户的运动范围。在本文中，高度灵巧的远程触诊，高达5个自由度的软控制接口，提出。这项工作的目的是使用形态计算本质上编码的手轨迹，展示3种不同的设计，以测试和优化界面的体现智能。然后，所提出的接口的性能进行了分析，作为一个单向遥控系统的控制器。结果表明，该设备能够正确编码手的运动，并再现复杂的轨迹高达5自由度。与键盘控制相比，它以类似的方式复制2D轨迹，同时保持触诊的直观性和自然性。
Achieving telepresence is the biggest challenge preventing healthcare robotics to permeate the field of primary care and performing tasks such as remote palpation. To do so, the user interface is of fundamental importance: ideally, it would reproduce similar conditions to the in-person task, resulting in intuitive and natural. Many studies focused on the high fidelity of the haptic and tactile feedback, overlooking the importance of the control interface. On the other hand, state- of-the-art soft control interfaces showcase high telepresence but low dexterity, limiting the user's range of motion. In this paper, a soft control interface for highly dexterous remote palpation, up to 5 degrees of freedom, is presented. The aim of this work is to use morphological computation to intrinsically encode hand trajectories, showcasing 3 different designs to test and optimize the interface's embodied intelligence. Then, the performance of the proposed interface is analyzed as a controller of a unilateral teleoperated system. The results show that the device is able to correctly encode the hand's motion and reproduce complex trajectories up to 5 DoF. Compared with keyboard control, it replicates 2D trajectories in a similar fashion, while maintaining the intuitiveness and naturalness of palpation.