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Haptic Information Gain in Remote Soft Tissue Examination Using a Controllable Stiffness Robotic Probe

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

Original languageEnglish
Title of host publication2018 IEEE 9th International Conference on Information and Automation for Sustainability, ICIAfS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538694183
DOIs
Publication statusPublished - 1 Dec 2018
Event9th IEEE International Conference on Information and Automation for Sustainability, ICIAfS 2018 - Colombo, Sri Lanka
Duration: 21 Dec 201822 Dec 2018

Conference

Conference9th IEEE International Conference on Information and Automation for Sustainability, ICIAfS 2018
CountrySri Lanka
CityColombo
Period21/12/201822/12/2018

King's Authors

Abstract

Technologies for remote physical examination of patients can transform disaster response operations like Ebola or even to perform preliminary examinations of patients in remote areas. Often general practitioners control the stiffness of fingers during physical examination. Our previous studies show that this stiffness control plays a significant role in haptic information gain in robotic probes. This paper investigates the effect of the stiffness of a probe on remote haptic feedback given via a vibrotactile display. We investigated this effect by asking human participants to press a button when they felt a significant change in the vibrotactile feedback received from a remote soft robotic probe that palpated a soft tissue to identify the location of a hard nodule. We investigated how factors such as the stiffness of the robotic probe, its probing speed and nodule depth affect the accuracy of detecting the location of the hard nodule. We found that the change in stiffness resulted in a change in detection accuracy; furthermore, probing speed showed statistically significant effect on the accuracy of detection. These results indicate that a controllable stiffness probe can be a versatile tool for remote physical examination.

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