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Evaluation of haptic devices and end‐users: Novel performance metrics in tele‐robotic microsurgery
Author(s) -
Hoshyarmanesh Hamidreza,
Zareinia Kourosh,
Lama Sanju,
Durante Benjamin,
Sutherland Garnette R.
Publication year - 2020
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2101
Subject(s) - haptic technology , computer science , gimbal , consistency (knowledge bases) , simulation , artificial intelligence , engineering , aerospace engineering
Abstract Background Here, we present performance evaluation methodology that distinguishes the performance of a haptic device from end‐user skill level in a tele‐robotic system. Methods A pick‐&‐place experiment was designed and eight participants micromanipulated cotton strips, similar to maneuvers performed during microsurgery. Using three nonredundant haptic devices: neuroArmPLUS HD , a custom developed master manipulator, and two commercially available products, sigma.7 and HD 2 , several features including the speed, effort, consistency, hand/gimbal agility, and force characteristics were measured and recorded for each participant and device. Results The participants showed variable skill level. For consistency, hand/gimbal agility and force characteristics, they performed significantly better when using neuroArmPLUS HD prototype. Based on the experimental data, performance metrics for both the device and the end‐users were established. Conclusions The integrated performance metrics allows independent evaluation of both the user and haptic device, thereby quantifying human‐machine interactions.