Tactile sensing system including bidirectionality and enhancement of haptic perception by tactile feedback to distant part

Haptic perception is bidirectionally related to the exploratory movements. This means that exploration influences perception, but also perception influences exploration. We can optimize/change the exploratory movements according to the perception and/or the task, consciously or unconsciously. In this paper, a tactile sensing system including bidirectionality is proposed and its potential and application to laparoscopic surgery are discussed. The proposed system is composed of a tactile sensor and a tactile display. The tactile sensor is mounted on a forceps, and the tactile feedback based on the sensor output is provided by using the tactile display. The user can feel sensor outputs and adjust the forceps manipulation according to the environment and the target. This leads to collect adequate sensor outputs. Implementing the bidirectionality gets the most out of the capability of the tactile sensor. Furthermore, the developed system might have an additional effect due to using the tactile display to the other hand, not to the hand with the forceps. It is an enhancement of haptic perception by tactile feedback to distant part. The developed system is introduced and establishment of the bidirectionality and its effect are discussed. Psychophysical experiments on the enhancing effect are conducted. Experimental results show a potential of the proposed tactile sensing system.