Figure 1
From: Multi-Modal Haptic Feedback for Grip Force Reduction in Robotic Surgery
Comparison of Average Grip Force during a peg-transfer task. Task performed using human hands and when performed using da Vinci robotic surgical system without HFS: (A) Data from a 6-subject two-handed peg transfer performed using human hands is compared against data from the no feedback trial in the hybrid HFS study (Figs 2A and 3). (B) Two-handed peg transfer using the da Vinci IS1200 robotic surgical system. (C) Two-handed peg-transfer performed using human hands with force sensors installed on one finger.
