Bimanual Telerobotic Surgery With Asymmetric Force Feedback: a da vinci Surgical System Implementation
Another force-feedback paper, about trying to provide surgeons with what kind of forces they should be experiencing if they were doing the surgery themselves by direct touch (since the da vinci does not include force feedback).
The focus in this paper is on two handed tasks with forces from the action hand's actions transferred to the reactive hand (the other hand). Hence the name "asymmetric" here.
Experienced robotic surgeons use visual cues to estimate the applied forces, but this scenario is only applicable when the surgeon has a good internal understanding of the tissue to correlate tissue deflection with force.
Yes, this makes sense. (Say, why don't these force feedback papers cite each other more often ... there's a lot of related work and it's helpful to understand their commonalities and differences.)
I am not sure how much we can expect to gain from treating forces as belonging to an action hand versus a reaction hand...
(And then most of the paper is about designing the system, and then they report some user studies. I can skip over these details.)