Abstract
In this study, a new method is proposed to enhance operational performance with surgical robot using the relation between haptic perception and human myoelectricity. Master-Slave type of surgical robot is utilized in this research. The robot is able to display force acted on the target by using force feedback. We experimentally distinguished operators' types of haptic perception by tests under relaxed and strained operational conditions. Then we measured EMG value under these conditions and got the EMG characteristics of certain operators. An empirical formula of force scaling factor was found to indicate the scaling factor with EMG value. Force feedback to the operator is altered by the scaling factor. Better operational performance was achieved by modifying scaling factor according to the haptic perception of the operator.
