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Electrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch

Title
Electrically-Evoked Proximity Sensation Can Enhance Fine Finger Control in Telerobotic Pinch
Authors
Zhao, ZiqiYeo, MinkuManoharan, StefanRyu, Seok ChangPark, Hangue
Ewha Authors
류석창
Issue Date
2020
Journal Title
SCIENTIFIC REPORTS
ISSN
2045-2322JCR Link
Citation
SCIENTIFIC REPORTS vol. 10, no. 1
Publisher
NATURE PUBLISHING GROUP
Indexed
SCI; SCIE; SCOPUS WOS scopus
Document Type
Article
Abstract
For teleoperation tasks requiring high control accuracy, it is essential to provide teleoperators with information on the interaction between the end effector and the remote environment. Real-time imaging devices have been widely adopted, but it delivers limited information, especially when the end effectors approach the target following the line-of-sight. In such situations, teleoperators rely on the perspective at the screen and can apply high force unintentionally at the initial contact. This research proposes to deliver the distance information at teleoperation to the fingertips of teleoperators, i.e., proximity sensation. Transcutaneous electrical stimulation was applied onto the fingertips of teleoperators, with the pulsing frequency inversely proportional to the distance. The efficacy of the proximity sensation was evaluated by the initial contact force during telerobotic pinch in three sensory conditions: vision only, vision+visual assistance (distance on the screen), and vision+proximity sensation. The experiments were repeated at two viewing angles: 30-60 degrees and line-of-sight, for eleven healthy human subjects. For both cases, the initial contact force could be significantly reduced by either visual assistance (20-30%) or the proximity sensation (60-70%), without additional processing time. The proximity sensation is two-to-three times more effective than visual assistance regarding the amount of force reduction.
DOI
10.1038/s41598-019-56985-9
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