Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Characterization of Real-time Haptic Feedback from Multimodal Neural
  Network-based Force Estimates during Teleoperation   Force estimation using neural networks is a promising approach to enable
haptic feedback in minimally invasive surgical robots without end-effector
force sensors. Various network architectures have been proposed, but none have
been tested in real time with surgical-like manipulations. Thus, questions
remain about the real-time transparency and stability of force feedback from
neural network-based force estimates. We characterize the real-time impedance
transparency and stability of force feedback rendered on a da Vinci Research
Kit teleoperated surgical robot using neural networks with vision-only,
state-only, and state and vision inputs. Networks were trained on an existing
dataset of teleoperated manipulations without force feedback. To measure
real-time stability and transparency during teleoperation with force feedback
to the operator, we modeled a one-degree-of-freedom human and surgeon-side
manipulandum that moved the patient-side robot to perform manipulations on
silicone artificial tissue over various robot and camera configurations, and
tools. We found that the networks using state inputs displayed more transparent
impedance than a vision-only network. However, state-based networks displayed
large instability when used to provide force feedback during lateral
manipulation of the silicone. In contrast, the vision-only network showed
consistent stability in all the evaluated directions. We confirmed the
performance of the vision-only network for real-time force feedback in a
demonstration with a human teleoperator.

21
The categories of this paper are: adap-org
9
The categories of this paper are: nlin
10
The categories of this paper are: q-bio
36
The categories of this paper are: cmp-lg
28
The categories of this paper are: alg-geom
32
The categories of this paper are: atom-ph
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
30
The categories of this paper are: q-alg
4
The categories of this paper are: cond-mat
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
24
The categories of this paper are: dg-ga
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
6
The categories of this paper are: astro-ph