Thimble end effector for palpation skills training
File(s)
Accepted version
Author(s)
Loisillier, A
Granados, A
Barrow, A
Bello, F
Type
Conference Paper
Abstract
Interaction with force feedback haptic devices is often non-intuitive, obtrusive and unrealistic, particularly for the simulation of palpation skills training where a thimble is commonly found as an end-effector. A user will typically use two hands to steady the device and push one or more thimbles onto their fingers. New designs of thimbles, responsible for fastening the end effector of a haptic device onto the finger of the user have been explored, but do not solve the issue of introducing elements that are not present in the task being simulated. We introduce a number of design techniques, with early evaluation results for improving the way users engage, maintain connection and then disengage with thimble-connected haptic interfaces. The designs of the thimbles presented in this paper include rings and different opening shapes, which aim at creating a vacuum effect, as well as a mechanical grip around the finger of the user in order to hold it. Thimble effectiveness, as a function of low impedance on insertion and high impedance on removal, was assessed through a study which highlighted that the relationship between thimble opening size and finger circumference is a critical factor. We present results about the impact of the size of the rings on the insertion and extraction force, followed by a reflection on an improved experimental protocol.
Editor(s)
Bello, F
Kajimoto, H
Visell, Y
Date Issued
2016-07-04
Date Acceptance
2016-05-07
Citation
Haptics: Perception, Devices, Control, and Applications, 2016, 9775, pp.86-96
ISBN
978-3-319-42323-4
ISSN
0302-9743
Publisher
SPRINGER INT PUBLISHING AG
Start Page
86
End Page
96
Journal / Book Title
Haptics: Perception, Devices, Control, and Applications
Volume
9775
Copyright Statement
© Springer International Publishing Switzerland 2016. The final publication is available at Springer via https://link.springer.com/chapter/10.1007%2F978-3-319-42324-1_9
Sponsor
Engineering & Physical Science Research Council (E
Health Education North West London
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000387431100009&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Grant Number
EP/K503733/1
Funder to provide
Source
10th International Conference on Haptics - Perception, Devices, Control, and Applications (EuroHaptics)
Subjects
Science & Technology
Technology
Computer Science, Cybernetics
Computer Science, Theory & Methods
Computer Science
Haptics
End effector
Thimble
Palpation
SIMULATOR
VALIDATION
FEEDBACK
STUDENTS
MODEL
Publication Status
Published
Start Date
2016-07-04
Finish Date
2016-07-07
Coverage Spatial
Imperial Coll London, London, ENGLAND