@article{nambi_effect_2017,
	title = {Effect of {Haptic}-{Interface} {Virtual} {Kinematics} on the {Performance} and {Preference} of {Novice} {Users} in {Telemanipulated} {Retinal} {Surgery}},
	volume = {2},
	issn = {2377-3766},
	doi = {10.1109/LRA.2016.2535980},
	abstract = {Telemanipulated robot-assisted surgical procedures of the retina require precise manipulation of instruments inserted through trocars in the sclera. However, there is not a unique mapping of the motions of the surgeon's hand to the lower-dimensional motions of the instrument through the trocar, and it is not obvious what method would be best. In this letter, we study operator performance during a precision positioning task reminiscent of telemanipulated retinal surgery on a force-sensing phantom retina with three viable and previously considered options for the hapticinterface kinematics. The haptic-interface kinematics are implemented virtually, in software, on a PHANTOM Premium 6DOF haptic interface. Results from a study with 12 novice human subjects show that overall performance is best with the kinematics that represent a compact and inexpensive option, and that subjects' subjective preference agrees with the objective performance results.},
	number = {1},
	journal = {IEEE Robotics and Automation Letters},
	author = {Nambi, Manikantan and Bernstein, Paul S. and Abbott, Jake J.},
	month = jan,
	year = {2017},
	note = {Conference Name: IEEE Robotics and Automation Letters},
	pages = {64--71},
}

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