Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence †

D’Abbraccio, Jessica; Massari, Luca; Prasanna, Sahana; Baldini, Laura; Sorgini, Francesca; Airò Farulla, Giuseppe; Bulletti, Andrea; Mazzoni, Marina; Capineri, Lorenzo; Menciassi, Arianna; Petrovic, Petar; Palermo, Eduardo; Oddo, Calogero Maria

doi:10.3390/s19030641

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Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence ^†

^1,‡,

^1,2,‡,

¹,

Giuseppe Airò Farulla

⁴,

⁵

^5,6

⁵

¹,

^7,8,

and

^1,*

The BioRobotics Institute, Sant’Anna School of Advanced Studies, 56025 Pisa, Italy

Department of Linguistics and Comparative Cultural Studies, Ca’ Foscari University of Venice, 30123 Venice, Italy

Department of Mechanical and Aerospace Engineering, “Sapienza” University of Rome, 00185 Rome, Italy

⁴

Department of Control and Computer Engineering, Politecnico di Torino, 10129 Turin, Italy

⁵

Department of Information Engineering, Università degli studi di Firenze, 50121 Florence, Italy

⁶

Istituto di Fisica Applicata “Nello Carrara”, Consiglio Nazionale delle Ricerche of Italy, 50019 Sesto Fiorentino, Italy

⁷

Production Engineering Department, Faculty of Mechanical Engineering, University of Belgrade, 11120 Belgrade, Serbia

⁸

Academy of Engineering Sciences of Serbia (AISS), 11120 Belgrade, Serbia

Author to whom correspondence should be addressed.

^†

This paper is an extended version of our paper published in the 2018 IEEE International Symposium on Medical Measurements and Applications (MeMeA).

^‡

These authors share first authorship based on equal contribution.

Sensors 2019, 19(3), 641; https://doi.org/10.3390/s19030641

Received: 11 December 2018 / Revised: 15 January 2019 / Accepted: 29 January 2019 / Published: 3 February 2019

(This article belongs to the Special Issue Tactile Sensors and Applications)

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Abstract

Advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting sensory perception during object palpation in tele-surgery and reproducing the sensed information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform and the user being 50 km apart. We found that the entailed percentage of identification was higher for stiffer inclusions with respect to the softer ones (average of 74% within the duration of the task), in both telepresence conditions evaluated. These promising results call for further exploration of tactile augmentation technology for telepresence in medical interventions. View Full-Text

Keywords: nodules detection; neuromorphic touch; polymeric phantom; sensory augmentation; tactile telepresence; teleoperation; tele-palpation; vibro-tactile stimulation

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MDPI and ACS Style

D’Abbraccio, J.; Massari, L.; Prasanna, S.; Baldini, L.; Sorgini, F.; Airò Farulla, G.; Bulletti, A.; Mazzoni, M.; Capineri, L.; Menciassi, A.; Petrovic, P.; Palermo, E.; Oddo, C.M. Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence ^†. Sensors 2019, 19, 641. https://doi.org/10.3390/s19030641

AMA Style

D’Abbraccio J, Massari L, Prasanna S, Baldini L, Sorgini F, Airò Farulla G, Bulletti A, Mazzoni M, Capineri L, Menciassi A, Petrovic P, Palermo E, Oddo CM. Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence ^†. Sensors. 2019; 19(3):641. https://doi.org/10.3390/s19030641

Chicago/Turabian Style

D’Abbraccio, Jessica, Luca Massari, Sahana Prasanna, Laura Baldini, Francesca Sorgini, Giuseppe Airò Farulla, Andrea Bulletti, Marina Mazzoni, Lorenzo Capineri, Arianna Menciassi, Petar Petrovic, Eduardo Palermo, and Calogero M. Oddo. 2019. "Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence ^†" Sensors 19, no. 3: 641. https://doi.org/10.3390/s19030641

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Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence ^†

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