Advances in Haptics, Tactile Sensing, and Manipulation for Robot-Assisted Minimally Invasive Surgery, Noninvasive Surgery, and Diagnosis
Figure 6
(a) An actuator array with an SMA-spring actuated principle designed for MIS in the University of Karlsruhe [13]. (b) An integrated tactile and shear feedback sensor array developed by the University of Salford for stimulation of finger mechanoreceptor. Actuation principle (left) and the device prototype (right) are shown [14].
