Force JND for Right Index Finger Using Contra Lateral Force Matching Paradigm
01 Jan 2013-pp 365-375
TL;DR: The results obtained can be used as basic building block for the calibration of virtual reality based minimally invasive surgery related tasks and force based virtual user interfaces ranging from touch pad to assistive tools.
Abstract: The paper aims at deriving the Just Noticeable Difference (JND) for force magnitude recognition between left and right index finger of human hand The experiment involves establishment of an internal reference stimulus, using the left index fingers of the hand, by the subject, which is perceived and matched under contra-lateral force matching paradigm A combination of virtual environment and a force sensor was used to derive the just noticeable difference for index-finger force application Six voluntary healthy young adult subjects in the age group of 22–30 years were instructed to produce reference forces by left index finger and to reproduce the same amount of force by the right index finger, when the subjects were confident enough of matching same amount of force, the force values of the both the left and right index finger were recorded simultaneously for 5 s at 10 Hz Five different trials were conducted for different force levels ranging from 2 to 5 N The percentage real JND and absolute JND were derived for all the subjects It was found that the Force-JND obtained was approximately 10 % across all subjects Results also show that subjects tend to underestimate force at high force levels and overestimate at low force levels The results obtained can be used as basic building block for the calibration of virtual reality based minimally invasive surgery related tasks and force based virtual user interfaces ranging from touch pad to assistive tools
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TL;DR: This paper reviews the current advances in needle insertion modeling, classified into three sections: needle insertion models, tissue deformation models, and needle–tissue interaction models.
Abstract: Needle insertion is the most basic skill in medical care, and training has to be imparted not only for physicians but also for nurses and paramedics In most needle insertion procedures, haptic feedback from the needle is the main stimulus in which novices need training For better patient safety, the classical methods of training the haptic skills have to be replaced with simulators based on new robotic and graphics technologies This paper reviews the current advances in needle insertion modeling, classified into three sections: needle insertion models, tissue deformation models, and needle–tissue interaction models Although understated in the literature, the classical and dynamic friction models, which are critical for needle insertion modeling, are also discussed The experimental setup or the needle simulators that have been developed to validate the models are described The need of psychophysics for needle simulators and psychophysical parameter analysis of human perception in needle insertion are discussed, which are completely ignored in the literature
30 citations
Cites background from "Force JND for Right Index Finger Us..."
...e) Force JND for left and right index finger is approximately 10% of the reference value [126]....
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10 Jul 2017
TL;DR: A 3-DOF force sensor installed to the trocar support is proposed, designed to reduce coupling effect which is caused by the reaction moment and optimized to minimize the coupling effect by using ANSYS software.
Abstract: Estimation of the force applied to the tip of a surgical instrument is necessary to render high-fidelity haptic feedback. Accuracy of the force estimation suffers from friction caused by the rubber packing inside the trocar. This paper proposes a 3-DOF force sensor installed to the trocar support. It is possible to estimate the 2-DOF radial force applied to the instrument tip and the 1-DOF axial friction occurring in the trocar by using the 3-DOF force sensor. Accuracy of the estimation, however, deteriorates due to the reaction moment that occurs at the trocar support. An I-shaped force sensor is designed to reduce coupling effect which is caused by the reaction moment. Design parameters of the sensor are optimized to minimize the coupling effect by using ANSYS software. The sensor is manufactured and calibrated using the least-square calibration method. L2 relative error of the estimation of the radial force applied to the instrument tip is less than 6.30 %. The axial reaction force corresponding to the friction is also estimated with relative error less than 8.63 %.
10 citations
Cites background from "Force JND for Right Index Finger Us..."
...This estimation error is allowable for haptic feedback since human cannot differentiate 10 % force error [11]....
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TL;DR: The device designed could quantify the forces producing/reproducing tasks on the knee joint with a high rate of reliability, and can probably be applied for outcome measurements in proprioceptive assessment of the knee joints.
Abstract: [Purpose] The aim of this study was to determine the reliability of a newly designed dynamometric device for use in frequent force producing/reproducing tasks on the knee joint. [Subjects and Methods] In this cross-sectional study (Development & Reliability), 30 young healthy males and females (age 23.4 ± 2.48 years) were selected among students of Tabriz University of Medical Sciences by simple randomized selection. The study instrument was designed to measure any isometric contraction force exerted by the knee joint flexor/extensor muscles, known as the ipsilateral and contralateral methods. Participant knees were fixed in 60° flexion, and each participant completed the entire set of measurements twice, 72 hours apart. [Results] The findings showed a good intraclass correlation coefficient of 0.73 to 0.81 for all muscle groups. The standard error of measurement and smallest detectable difference for flexor muscle groups were 0.37 and 1.02, respectively, while the values increased to standard error of measurement=0.38 and smallest detectable difference=1.05 for extensor muscle groups. [Conclusion] The device designed could quantify the forces producing/reproducing tasks on the knee joint with a high rate of reliability, and can probably be applied for outcome measurements in proprioceptive assessment of the knee joint.
9 citations
TL;DR: Quality criteria is introduced, by assessing feedback degradation when actuations depart from optimal conditions and fall into suboptimal interactions, and a proposed taxonomy for characterising push-button haptic feedback is proposed.
Abstract: Designing automotive Human–Machine Interfaces falls into a resource-intensive and iterative prototyping process. Design inputs, including those resulting from an automaker’s brand sense, frequently...
6 citations
Cites background from "Force JND for Right Index Finger Us..."
...…mechanical system at a certain displacement, their levels were set in such a way that the feedback would afford an interaction load at least 10% higher/lower (Doerrer and Werthschuetzky 2002; Raghu Prasad et al., 2013; Vicentini et al. 2010; Yang et al. 2003) than that of the nominal feedback....
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...Meaning, differences should exceed thenormal human thresholds of perception and Just-Noticeable-Differences (JND) found in the literature (Cholewiak, Tan, and Ebert 2008; Doerrer andWerthschuetzky 2002; Hatzfeld andKern2009; RaghuPrasad, et al., 2013; Reisinger et al. 2006; Tanet al. 1995; Tanet al. 1994; Vicentini et al. 2010; Wheat, Salo, and Goodwin 2004; Yang et al. 2003)....
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...(Raghu Prasad et al., 2013) and, in the case of slow varying forces, between 5% and 10% (Yang et al. 2003)....
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...For example, if a known combination of factors was expected to change a force cue from the push-buttons’ mechanical system at a certain displacement, their levels were set in such a way that the feedback would afford an interaction load at least 10% higher/lower (Doerrer and Werthschuetzky 2002; Raghu Prasad et al., 2013; Vicentini et al. 2010; Yang et al. 2003) than that of the nominal feedback....
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TL;DR: The proof of stability of an Energy Shared Control (ESC) architecture for one degree of freedom (d.o.f.) devices is detailed and an extension to multiple degrees of freedom is proposed, along with an enhanced version of the Adaptive Authority Adjustment function.
Abstract: This paper introduces a dual-user training system whose design is based on an energetic approach. This kind of system is useful for supervised hands-on training where a trainer interacts with a trainee through two haptic devices, in order to practice on a manual task performed on a virtual or teleoperated robot (for example for an MIS task in a surgical context). This paper details the proof of stability of an Energy Shared Control (ESC) architecture we previously introduced for one degree of freedom (d.o.f.) devices. An extension to multiple degrees of freedom is proposed, along with an enhanced version of the Adaptive Authority Adjustment (AAA) function. Experiments are carried out with 3 d.o.f. haptic devices in free motion as well as in contact contexts in order to show the relevance of this architecture.
5 citations
Cites background from "Force JND for Right Index Finger Us..."
...[30], a JND of 10% has been experimentally determined for forces detected by the index finger with forces from 2 to 5 N....
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References
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01 Dec 1994
TL;DR: In this paper, the design criteria imposed by the capabilities of the human user on the design of force reflecting controllers for hands and arms are discussed and a framework of issues regarding human capabilities is presented that maps directly to mechanical design requirements.
Abstract: This paper discusses the design criteria imposed by the capabilities of the human user on the design of force reflecting controllers for hands and arms. A framework of issues regarding human capabilities is presented that maps directly to mechanical design requirements. The state of knowledge for each capability is briefly summarized along with presentation of new experimental measurements. Finally, the implications of the human factors data to haptic interface design are discussed.
472 citations
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244 citations
TL;DR: Results of these experiments indicate a just noticeable difference of roughly 7% of the reference force using a one-interval paradigm with trial-by-trial feedback over the ranges 2.5≤Fo≤10.0 newtons, 5≤D≤30 mm, 45≤S≤125 mm, and 25≤V≤160 mm/sec.
Abstract: In these experiments, two plates were grasped between the thumb and forefinger and squeezed together along a linear track. An electromechanical system presented a constant resistance force during the squeeze up to a predetermined location on the track, whereupon the force effectively went to infinity (simulating a wall) or to zero (simulating a cliff). The task of the subject was to discriminate between two alternative levels of the constant resistance force (a reference level and a reference-plus-increment level). Results of these experiments indicate a just noticeable difference of roughly 7% of the reference force using a one-interval paradigm with trial-by-trial feedback over the ranges 2.5≤Fo≤10.0 newtons, 5≤D≤30 mm, 45≤S≤125 mm, and 25≤V≤160 mm/sec, whereFo is the reference force,D is the distance squeezed,S is the initial finger-span, andV is the mean velocity of the squeeze. These results, based on tests with 5 subjects, are consistent with a wide range of previous results, some of which are associated with other body surfaces and muscle systems and many of which were obtained with different psychophysical methods.
226 citations
"Force JND for Right Index Finger Us..." refers background or methods in this paper
...[3] adopted one interval, two alternative forced-choice paradigms....
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...The JND was around 10 % for pinching tasks involving finger and thumb at a constant holding force [3]....
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TL;DR: The centrally generated ‘effort’ or direct voluntary command to motoneurones required to lift a weight was studied using a simple weight‐matching task when the muscles lifting a reference weight were weakened.
Abstract: 1. The centrally generated ‘effort’ or direct voluntary command to motoneurones required to lift a weight was studied using a simple weight-matching task when the muscles lifting a reference weight were weakened. This centrally generated input to motoneurones was increased when the lifting muscles were partially paralysed with curare or decamethonium as judged by the increased perceived heaviness of a reference weight lifted by the weakened muscles.
2. If subjects were asked simply to make matching isometric contractions when the lifting muscles were weakened the isometric tension produced by a weakened muscle was over-estimated.
3. When subjects matched weights by flexing the distal joint of the thumb the perceived heaviness of a reference weight during a control partial curarization was compared with its perceived heaviness during a similar partial curarization when the thumb was also anaesthetized. At any level of maximal strength during curarization the perceived heaviness (which reflects the motor command to lifting motoneurones) was increased when the thumb was anaesthetized.
4. This increased voluntary command to lifting motoneurones may be required because automatic reflex assistance provided by apparent servo action from the long flexor of the thumb is suppressed by anaesthesia of the thumb (Marsden, Merton & Morton, 1971, 1973, 1976a; Dyhre-Poulsen & Djorup, 1976).
200 citations
TL;DR: The perception of the heaviness of lifted objects was studied using a weight‐matching task when sensory inputs from parts related to the lifting task were altered.
Abstract: 1. The perception of the heaviness of lifted objects was studied using a weight-matching task when sensory inputs from parts related to the lifting task were altered.
2. A weight lifted by flexing the index finger feels heavier when the thumb is anaesthetized and lighter when the thumb is electrically stimulated. A weight lifted by flexing the distal joint of the thumb feels heavier when the sensory input from the skin and joint of the thumb is abolished by anaesthesia. It also feels heavier when the index (but not the little) finger is anaesthetized, and lighter when the index (but not the little) finger is electrically stimulated.
3. A weight lifted by extending the thumb feels lighter when the sensory input from the thumb is abolished.
4. The perceived heaviness of a weight lifted by flexing the thumb is increased during anaesthesia of the thumb when the flexor of the thumb is the prime mover but not when it is acting simply as a postural fixator to support the weight.
5. The sensation of the heaviness of lifted objects derives from the effort or centrally generated voluntary motor command employed in the lift. Our results indicate that the motor commands to either thumb or index finger flexors are facilitated by sensory inputs arising from a wide sensory field usually involved in co-operative motor performances carried out by both muscle groups together.
171 citations