Sensory Evaluation of Cutting Force for Encountered-type Haptic Display Using MR Fluid

Hiroki Ohnari, Satoko Abiko, Teppei Tsujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper addresses sensory evaluation of cutting force for an encountered-type haptic interface using MR fluid. The encountered-type of haptic interface using MR fluid can display arbitrary force by controlling the magnitude of yield stress of MR fluid and an operator can feel resistance force by cutting the MR fluid directly with surgical instrument. In the previous studies, we tried to reproduce cutting force of authentic biological tissue, swine liver, by this haptic interface. However, we discovered that an operator did not feel same cutting force as in cutting the real swine liver even though the haptic interface reproduced the cutting force of real swine liver. Therefore, this paper carries out sensory evaluation of cutting force to clarify dominant factors of the cutting sensation and discusses how different between the real swine liver cutting and reproduced cutting force by the haptic interface. Then, we discuss possible improvement of the system for precisely reproducing the cutting sensation.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2399-2404
Number of pages6
ISBN (Electronic)9781728103761
DOIs
Publication statusPublished - 2019 Mar 11
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: 2018 Dec 122018 Dec 15

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
CountryMalaysia
CityKuala Lumpur
Period18/12/1218/12/15

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Keywords

  • Haptic interface
  • MR fluid
  • Sensory evaluation
  • Surgery simulator

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Ohnari, H., Abiko, S., & Tsujita, T. (2019). Sensory Evaluation of Cutting Force for Encountered-type Haptic Display Using MR Fluid. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 2399-2404). [8664847] (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8664847