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Published on: August 8, 2011
Evaluation of haptic devices and end-users: Novel performance metrics in tele-robotic microsurgery
Hamidreza Hoshyarmanesh1, Kourosh Zareinia2, Sanju Lama1
1Project neuroArm, Health Research Innovation Center and Hotchkiss Brain Institute, Department of Clinical Neurosciences, Cumming School of Medicine, University of Calgary, Alberta, Canada.
Background:
Here, we present performance evaluation methodology that distinguishes the performance of a haptic device from end-user skill level in a tele-robotic system.
Methods:
A pick-&-place experiment was designed and eight participants micromanipulated cotton strips, similar to maneuvers performed during microsurgery. Using three nonredundant haptic devices: neuroArmPLUS HD , a custom developed master manipulator, and two commercially available products, sigma.7 and HD2 , several features including the speed, effort, consistency, hand/gimbal agility, and force characteristics were measured and recorded for each participant and device.
Results:
The participants showed variable skill level. For consistency, hand/gimbal agility and force characteristics, they performed significantly better when using neuroArmPLUS HD prototype. Based on the experimental data, performance metrics for both the device and the end-users were established.
Conclusions:
The integrated performance metrics allows independent evaluation of both the user and haptic device, thereby quantifying human-machine interactions.
