In this paper we present a study concerning the human hand during digital handwriting on a tablet... more In this paper we present a study concerning the human hand during digital handwriting on a tablet. Two different cases are considered: writing with the finger, and writing with the stylus. We chose an approach based on the biomechanics of the human hand to compare the two different input methods. Performance is evaluated using metrics originally introduced and developed in robotics, such as the manipulability indexes. Analytical results assess that writing with the finger is more suitable for performing large, but not very accurate motions, while writing with the stylus leads to a higher precision and more isotropic motion performance. We then carried out two experiments of digital handwriting to support the approach and contextualize the results.
This study presents a novel approach to force feedback in robot-assisted surgery. It consists of ... more This study presents a novel approach to force feedback in robot-assisted surgery. It consists of substituting haptic stimuli, composed of a kinesthetic component and a skin deformation, with cutaneous stimuli only. The force generated can then be thought as a subtraction between the complete haptic interaction, cutaneous, and kinesthetic, and the kinesthetic part of it. For this reason, we refer to this approach as sensory subtraction. Sensory subtraction aims at outperforming other nonkinesthetic feedback techniques in teleoperation (e.g., sensory substitution) while guaranteeing the stability and safety of the system. We tested the proposed approach in a challenging 7-DoF bimanual teleoperation task, similar to the Pegboard experiment of the da Vinci Skills Simulator. Sensory subtraction showed improved performance in terms of completion time, force exerted, and total displacement of the rings with respect to two popular sensory substitution techniques. Moreover, it guaranteed a stable interaction in the presence of a communication delay in the haptic loop.
In this paper we present a study concerning the human hand during digital handwriting on a tablet... more In this paper we present a study concerning the human hand during digital handwriting on a tablet. Two different cases are considered: writing with the finger, and writing with the stylus. We chose an approach based on the biomechanics of the human hand to compare the two different input methods. Performance is evaluated using metrics originally introduced and developed in robotics, such as the manipulability indexes. Analytical results assess that writing with the finger is more suitable for performing large, but not very accurate motions, while writing with the stylus leads to a higher precision and more isotropic motion performance. We then carried out two experiments of digital handwriting to support the approach and contextualize the results.
This study presents a novel approach to force feedback in robot-assisted surgery. It consists of ... more This study presents a novel approach to force feedback in robot-assisted surgery. It consists of substituting haptic stimuli, composed of a kinesthetic component and a skin deformation, with cutaneous stimuli only. The force generated can then be thought as a subtraction between the complete haptic interaction, cutaneous, and kinesthetic, and the kinesthetic part of it. For this reason, we refer to this approach as sensory subtraction. Sensory subtraction aims at outperforming other nonkinesthetic feedback techniques in teleoperation (e.g., sensory substitution) while guaranteeing the stability and safety of the system. We tested the proposed approach in a challenging 7-DoF bimanual teleoperation task, similar to the Pegboard experiment of the da Vinci Skills Simulator. Sensory subtraction showed improved performance in terms of completion time, force exerted, and total displacement of the rings with respect to two popular sensory substitution techniques. Moreover, it guaranteed a stable interaction in the presence of a communication delay in the haptic loop.
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