Evaluation of haptic devices and end-users: Novel performance metrics in tele-robotic microsurgery.

[BACKGROUND] Here, we present performance evaluation methodology that distinguishes the performance of a haptic device from end-user skill level in a tele-robotic system.

[METHODS] A pick-&-place experiment was designed and eight participants micromanipulated cotton strips, similar to maneuvers performed during microsurgery. Using three nonredundant haptic devices: neuroArmPLUS , a custom developed master manipulator, and two commercially available products, sigma.7 and HD , several features including the speed, effort, consistency, hand/gimbal agility, and force characteristics were measured and recorded for each participant and device.

[RESULTS] The participants showed variable skill level. For consistency, hand/gimbal agility and force characteristics, they performed significantly better when using neuroArmPLUS prototype. Based on the experimental data, performance metrics for both the device and the end-users were established.

[CONCLUSIONS] The integrated performance metrics allows independent evaluation of both the user and haptic device, thereby quantifying human-machine interactions.