Teleoperated robotic surgery allows filtering andscaling the hand motion to achieve high precision during thesurgical interventions. Teleoperation represents a very complexsensory-motor task, mainly due to the kinematic and kineticredundancies that characterize the human motor control. Itrequires an intensive training phase to acquire sufficient famil-iarity with the master-slave architecture.We estimated the hand stiffness modulation during theexecution of a simulated suturing task in teleoperation, withtwo different master devices, and in free-hand. Kinematicdata of eight right-handed users were acquired, using elec-tromagnetic and optical tracking systems, and analysed usinga musculoskeletal model. Through inverse dynamics, muscularactivation was computed and used to obtain the joint torqueand stiffness, leading to end-point stiffness estimation. Themaximal stiffness value and its angular displacement withrespect to the trajectory tangent was computed. The resultsshow that there is a difference in how the main stiffness axiswas modulated by using the two master devices with respectto free-hand, with higher values and variability for the seriallink manipulator. Moreover, a directional modulation of thehand stiffness through the trajectory was found, showing thatthe users were aligning the direction of the main stiffness axisperpendicularly to the trajectory.

Analysis of joint and hand impedance during teleoperation and free-hand task execution

BUZZI, JACOPO;FERRIGNO, GIANCARLO;DE MOMI, ELENA
2017-01-01

Abstract

Teleoperated robotic surgery allows filtering andscaling the hand motion to achieve high precision during thesurgical interventions. Teleoperation represents a very complexsensory-motor task, mainly due to the kinematic and kineticredundancies that characterize the human motor control. Itrequires an intensive training phase to acquire sufficient famil-iarity with the master-slave architecture.We estimated the hand stiffness modulation during theexecution of a simulated suturing task in teleoperation, withtwo different master devices, and in free-hand. Kinematicdata of eight right-handed users were acquired, using elec-tromagnetic and optical tracking systems, and analysed usinga musculoskeletal model. Through inverse dynamics, muscularactivation was computed and used to obtain the joint torqueand stiffness, leading to end-point stiffness estimation. Themaximal stiffness value and its angular displacement withrespect to the trajectory tangent was computed. The resultsshow that there is a difference in how the main stiffness axiswas modulated by using the two master devices with respectto free-hand, with higher values and variability for the seriallink manipulator. Moreover, a directional modulation of thehand stiffness through the trajectory was found, showing thatthe users were aligning the direction of the main stiffness axisperpendicularly to the trajectory.
2017
Teleoperation, arm impedance estimation, musculoskeletral model,
File in questo prodotto:
File Dimensione Formato  
ICRA2017.pdf

accesso aperto

Descrizione: Articolo principale
: Pre-Print (o Pre-Refereeing)
Dimensione 3.53 MB
Formato Adobe PDF
3.53 MB Adobe PDF Visualizza/Apri
Analysis of joint and hand impedance during (preprint).pdf

Accesso riservato

: Publisher’s version
Dimensione 3.62 MB
Formato Adobe PDF
3.62 MB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1024037
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 9
  • ???jsp.display-item.citation.isi??? 6
social impact