Journal of Robotics / 2012 / Article / Fig 6

Review Article

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].
(a) SMA-actuated tactile display
(b) Combined tactile & shear feedback array