There is ample research on the effect of haptic teleoperation under delayed communication channels in terms of stability and system performance. Little attention, however, has been paid to the effect of delayed force feedback on users’ task performance and whether force feedback is beneficial under significant communication delays. This paper investigates whether force feedback improves user’s ...

1.1 Main approaches and principles of force control Approaches to manipulator control using force information can be subdivided into two major groups. The first group uses logic branching of the control when the measured force satisfies certain conditions. The second group introduces continuous force feedback as an explicit force control or active force feedback method. The basic approaches to ...

Force feedback is widely assumed to enhance performance in robotic surgery, but its benefits have not yet been systematically assessed. In this study we examine the effects of force feedback on a blunt dissection task. Subjects used a telerobotic system to expose an artery in a synthetic model while viewing the operative site with a video laparoscope. Performance was compared between force feed...

In this paper we review some theoretical aspects of positive feedback in the control of movement. The focus is mainly on new theories regarding the reflexive role of sensory signals from mammalian tendon organ afferents. In static postures these afferents generally mediate negative force feedback. But in locomotion there is evidence of a switch to positive force feedback action. Positive feedba...

Cyclic isometric finger-force patterns established using visual feedback show systematic drifts when the feedback is removed. Force changes at multiple time scales and in opposite directions have been reported. For further characterization of these drifts, healthy subjects produced isometric, cyclic finger force with and without visual feedback at various initial amplitudes and frequencies. We ...

In teleoperation systems, the master robot receives force feedback from the remote slave side. Thus, the human operator can perceive the contact between the slave robot and its environment. Application of a force sensor at the slave robot improves the performance of the telepresence system in terms of transparency. Still, so far no approach allowing measured force feedback in time delayed multi...

By analyzing the characteristics and applications of robotic at locally and abroad, specifies the importance of force feedback technology in the robotic system and describes the current development process of force feedback technology. The methods, design and implementation of the master/slave prototype surgical system along with force feedback facility are introduced. The basic materials is al...

In this paper we present experimental results that investigate the integration of two disparate sensing modalities, force and vision, for sensor-based microassembly. By integrating these sensing modes, we are able to provide feedback in a task-oriented frame of reference over a broad range of motion with an extremely high precision. An optical microscope is used to provide visual feedback down ...