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Hardness Perception of Viscoelasticity in a Probing Task
Fangshu He, Ravindra S. Goonetilleke, and Caroline G. L. Cao
(Hong Kong University of Science and Technology, China; Wright State University, USA)
WIP Poster C5
Publisher's Version
Abstract: In minimally invasive surgery, indirect contact leads to impaired haptic feedback for the surgeon. In this study, considering the viscoelasticity of human tissues and organs, we assessed the effect of damping and spring constant on hardness perception. Dampers which exhibit both elastic property and viscous property were designed and manufactured using 3D printing technology. In the experiment, the ability to distinguish hardness was evaluated using a magnitude estimation method. Two different ways of holding the tool were used in a probing task. Force data were also analyzed to determine the role of force feedback relative to elasticity and viscosity. Preliminary results suggest that the major factor in hardness perception in this context is force application, followed by spring constant and damping coefficient. Implications for tool design will be considered in light of these results.


Time stamp: 2019-06-18T15:46:49+02:00