TY - JOUR
T1 - Multi-fingered haptic palpation using pneumatic feedback actuators
AU - Li, Min
AU - Luo, Shan
AU - Nanayakkara, Thrishantha
AU - Seneviratne, Lakmal D.
AU - Dasgupta, Prokar
AU - Althoefer, Kaspar
PY - 2014/10/1
Y1 - 2014/10/1
N2 - This paper proposes a multi-fingered palpation method which employs pneumatic haptic feedback actuators allowing users to experience haptic sensations at multiple fingers while carrying out remote soft tissue palpation. Pneumatic actuators are used to vary the stress on the user's fingertips in accordance with the tissue stiffness, experienced during manual palpation. The proposed method reduces actuator elements compared to tactile actuators and provides more information than single-point force feedback. The results of our finite element analysis have proven that our pneumatic haptic feedback device can recreate the contact stress between fingertip and soft tissue during palpation. The accuracy (96.8% vs. 93.3%) and time-efficiency (4.6 s vs. 8.3 s) advantages of using three-fingered over single-fingered palpation have been confirmed in our user study results of stiffness levels discrimination. Relatively good tumor detection sensitivities have been demonstrated by the palpation user study which has showed a direct correlation between tumor size and detection sensitivity and has further proven the efficiency of the proposed actuator and multi-fingered palpation method for tumor detection in palpation simulation.
AB - This paper proposes a multi-fingered palpation method which employs pneumatic haptic feedback actuators allowing users to experience haptic sensations at multiple fingers while carrying out remote soft tissue palpation. Pneumatic actuators are used to vary the stress on the user's fingertips in accordance with the tissue stiffness, experienced during manual palpation. The proposed method reduces actuator elements compared to tactile actuators and provides more information than single-point force feedback. The results of our finite element analysis have proven that our pneumatic haptic feedback device can recreate the contact stress between fingertip and soft tissue during palpation. The accuracy (96.8% vs. 93.3%) and time-efficiency (4.6 s vs. 8.3 s) advantages of using three-fingered over single-fingered palpation have been confirmed in our user study results of stiffness levels discrimination. Relatively good tumor detection sensitivities have been demonstrated by the palpation user study which has showed a direct correlation between tumor size and detection sensitivity and has further proven the efficiency of the proposed actuator and multi-fingered palpation method for tumor detection in palpation simulation.
KW - Haptic feedback
KW - Multi-fingered feedback
KW - Palpation simulation
KW - Pneumatic haptic actuator
KW - Tumor identification
UR - http://www.scopus.com/inward/record.url?scp=84906708660&partnerID=8YFLogxK
U2 - 10.1016/j.sna.2014.08.003
DO - 10.1016/j.sna.2014.08.003
M3 - Article
AN - SCOPUS:84906708660
SN - 0924-4247
VL - 218
SP - 132
EP - 141
JO - Sensors and Actuators A: Physical
JF - Sensors and Actuators A: Physical
ER -