This paper evaluates the role and effectiveness of different types of haptic feedback in presenting relevant feedback information during needle insertion in soft tissues through a remotely operated robot. We carried out three experiments with human subjects to analyze the effect of grounded kinesthetic feedback, cutaneous vibrotactile feedback, and cutaneous pressure feedback for rendering the elastic and the viscous force components of a simplified needle-tissue interaction model in a simulated environment. Results showed that providing the two pieces of feedback information through different channels, i.e., kinesthetic and cutaneous, led to the best performance, yielding an improvement in detecting a different tissue layer with respect to providing both information through the same commercial grounded kinesthetic interface. Moreover, results indicate that cutaneous pressure feedback is more suited for rendering the elastic component of the interaction with respect to vibrotactile cutaneous sensations. Finally, results suggest that rendering this elastic component where the user holds the input interface is not so important, confirming that delocalized cutaneous sensations can be an effective solution.

中文翻译：

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因果推理：为下一代人工智能原生无线网络制定革命性路线


本文评估了不同类型的触觉反馈在通过远程操作机器人将针插入软组织期间呈现相关反馈信息的作用和有效性。我们对人类受试者进行了三项实验，以分析接地动觉反馈、皮肤振动触觉反馈和皮肤压力反馈的效果，以在模拟环境中渲染简化的针-组织相互作用模型的弹性和粘性力分量。结果表明，通过不同渠道（即动觉和皮肤）提供两条反馈信息可以获得最佳性能，相对于通过相同的商业接地动觉界面提供两种信息而言，在检测不同组织层方面产生了改进。此外，结果表明，皮肤压力反馈更适合呈现相对于振动触觉皮肤感觉的相互作用的弹性成分。最后，结果表明，在用户握持输入界面的位置渲染这个弹性组件并不那么重要，这证实了离域皮肤感觉可能是一种有效的解决方案。