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Haptics : generating and perceiving tangible sensations : international conference, EuroHaptics 2010, Amsterdam, July 8-10, 2010 : proceedings. EuroHaptics 2010 (2010 : Amsterdam, Netherlands)最新文献

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Perception and Action in Simulated Telesurgery. 模拟远程手术的感知与行动。
Ilana Nisky, Assaf Pressman, Carla M Pugh, Ferdinando A Mussa-Ivaldi, Amir Karniel

We studied the effect of delay on perception and action in contact with a force field that emulates elastic soft tissue with a specific rigid nonlinear boundary. Such field is similar to forces exerted on a needle during teleoperated needle insertion tasks. We found that a nonlinear boundary region causes both psychometric and motor overestimation of stiffness, and that delay causes motor but not psychometric underestimation of the stiffness of this nonlinear soft tissue. In addition we show that changing the teleoperation channel gain reduces and can even cancel the motor effect of delay.

我们研究了延迟对与具有特定刚性非线性边界的弹性软组织接触时的感知和行动的影响。这样的场类似于在远程操作的针插入任务中施加在针上的力。我们发现一个非线性的边界区域会导致心理测量和运动对刚度的高估,而延迟会导致运动而不是心理测量对这种非线性软组织的刚度的低估。此外,我们还表明,改变遥操作通道增益可以减少甚至消除电机延迟的影响。
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引用次数: 6
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Haptics : generating and perceiving tangible sensations : international conference, EuroHaptics 2010, Amsterdam, July 8-10, 2010 : proceedings. EuroHaptics 2010 (2010 : Amsterdam, Netherlands)
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