Thermal cues provide information about the thermal properties of an object held in the hand. These cues can be simulated in a thermal display and used to assist in identifying the object. Two experiments were conducted using a thermal display that simulated the cues associated with contact with different materials. The thermal contact model was based on a semi-infinite body model that included thermal contact resistance and blood perfusion. Its performance was evaluated in two experiments, the first of which involved discriminating between simulated materials, and in the second, subjects were required to identify simulated materials based on the thermal cues presented to one, three, or five fingers. The results from the first experiment indicated that when the temperature profile associated with contact with a real material is presented to the finger, subjects can use this cue to discriminate between simulated materials. Their performance on this task is comparable to that achieved with real materials with similar thermal properties. In the second experiment, the accuracy with which subjects identified a simulated material based on thermal cues improved as the number of fingers stimulated increased, suggesting that spatial summation of cold occurs when the area stimulated is noncontiguous. However, most of the improvement in identifying materials occurred when the display presented thermal cues to three as compared to one finger, with little further enhancement in performance when five fingers were stimulated. These results indicate that thermal displays can be used effectively to present information about the material composition of objects in virtual environments.

We have developed a prototype teleoperated microsurgical robot (MSR-1) and associated virtual environment for eye surgery. Bidirectional pathways relay visual, auditory, and mechanical information between the MSR-1 master and slave. The surgeon wears a helmet (visual master) that is used to control the orientation of a stereo camera system (visual slave) observing the surgery. Images from the stereo camera system are relayed back to the helmet (or adjacent screen) where they are viewed by the surgeon. In each hand the surgeon holds a pseudotool (a shaft shaped like a microsurgical scalpel) that projects from the left and right limbs of a force reflecting interface (mechanical master). Movements of the left and right pseudotools cause corresponding movements (scaled down by 1 to 100 times) in the microsurgical tools held by the left and right limbs of the micromotion robot (mechanical slave) that performs the surgery. Forces exerted on the left and right limbs of the slave microsurgical robot via the microtools are reflected back (after being scaled up by 1 to 100 times) to the pseudotools and hence surgeon via actuators in the left and right limbs of the mechanical master. This system enables tissue cutting forces to be felt including those that would normally be imperceptible if they were transmitted directly to the surgeon's hands. The master and slave subsystems (visual, auditory, and mechanical) communicate through a computer system which serves to enhance and augment images, filter hand tremor, perform coordinate transformations, and perform safety checks. The computer system consists of master and slave computers that communicate via an optical fiber connection. As a result, the MSR-1 master and slave may be located at different sites, which permits remote robotic microsurgery to become a reality. MSR-1 is being used as an experimental testbed for studying the effects of feedforward and feedback delays on remote surgery and is used in research on enhancing the accuracy and dexterity of microsurgeons by creating mechanical and visual telepresence.