LEADER 04291nam 22006615 450 001 9910299256103321 005 20200629215907.0 010 $a3-319-25457-X 024 7 $a10.1007/978-3-319-25457-9 035 $a(CKB)3710000000501060 035 $a(EBL)4084477 035 $a(SSID)ssj0001584230 035 $a(PQKBManifestationID)16264572 035 $a(PQKBTitleCode)TC0001584230 035 $a(PQKBWorkID)14864110 035 $a(PQKB)11065518 035 $a(DE-He213)978-3-319-25457-9 035 $a(MiAaPQ)EBC4084477 035 $a(PPN)190523379 035 $a(EXLCZ)993710000000501060 100 $a20151105d2015 u| 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aCutaneous Haptic Feedback in Robotic Teleoperation /$fby Claudio Pacchierotti 205 $a1st ed. 2015. 210 1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2015. 215 $a1 online resource (157 p.) 225 1 $aSpringer Series on Touch and Haptic Systems,$x2192-2977 300 $aDescription based upon print version of record. 311 $a3-319-25455-3 320 $aIncludes bibliographical references at the end of each chapters. 327 $aForeword -- Introduction -- Part I: Force Feedback via Cutaneous Cues Only -- Sensory Subtraction in Teleoperation: Substituting Haptic Force with Cutaneous Stimuli -- Needle Insertion in Simulated Soft Tissue -- Peg-in-Hole in Simulated and Real Scenarios -- Remote Palpation Using the Da Vinci Surgical System -- Part II: Force Feedback via Mixed Cutaneous and Kinesthetic Cues -- Cutaneous and Kinesthetic Cues to Improve Transparency in Teleoperation -- Cutaneous and Kinesthetic Cues for Enhanced Navigation Feedback in Teleoperation -- Conclusion and Future Works. 330 $aThis work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest. 410 0$aSpringer Series on Touch and Haptic Systems,$x2192-2977 606 $aUser interfaces (Computer systems) 606 $aAutomatic control 606 $aRobotics 606 $aMechatronics 606 $aUser Interfaces and Human Computer Interaction$3https://scigraph.springernature.com/ontologies/product-market-codes/I18067 606 $aControl, Robotics, Mechatronics$3https://scigraph.springernature.com/ontologies/product-market-codes/T19000 615 0$aUser interfaces (Computer systems) 615 0$aAutomatic control. 615 0$aRobotics. 615 0$aMechatronics. 615 14$aUser Interfaces and Human Computer Interaction. 615 24$aControl, Robotics, Mechatronics. 676 $a006.8 700 $aPacchierotti$b Claudio$4aut$4http://id.loc.gov/vocabulary/relators/aut$01064293 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910299256103321 996 $aCutaneous Haptic Feedback in Robotic Teleoperation$92537322 997 $aUNINA