Herein, how robotic and autonomous systems and smart wearables complement and support healthcare delivery and the healthcare staff during the COVID‐19 pandemic are presented. For instance, robotic and telerobotic systems significantly reduce the risk of infectious disease transmission to frontline healthcare workers by making it possible to triage, evaluate, monitor, and treat patients from a safe distance. Various examples of where the medical, engineering, and science communities come together to aid the healthcare system, healthcare workers, and society during the current crisis are presented. The goal is to encourage an interdisciplinary dialog so that ethical, practical, and beneficial technological solutions are found to effectively tackle this and similar crises.

This article presents an overview of the current state of research and application of haptic (primarily kinesthetic) feedback and force-based teleoperation in the context of surgical robotics. Telerobotic surgery provides an approach for transferring the sensorimotor skills of a surgeon through a robotic platform to perform surgical intervention inside a patient’s body. Integration of advanced sensing and haptic technologies in telerobotic surgery can help to enhance the sensory awareness and motor accuracy of the surgeon, thereby leading to improved surgical procedures and outcomes for patients. The primary mode of sensory feedback has been through 3-D visual observation using stereo endoscopes. However, until recently, the sense of touch, i.e., haptics, has been missing in the commercial telesurgery robots approved for use in the operating room despite over two decades of research and development in the field of haptics for teleoperated systems (“telehaptics”). Research has shown that high-fidelity force feedback can enhance the performance of telesurgery and potential outcomes by enabling the surgeon to have a more natural feel of interaction between surgical tools and tissue as normally experienced during open surgery. Interaction forces, such as those generated during palpation of tissue, insertion of a needle, unintentional (and potentially unsafe) exertion of force by a tool, suture breakage, needle slippage, or tool interaction, are replaced by indirect (virtual) sensations, termed visual haptics, which provides an alternative to sensory compensation. Although there is a significant amount of literature supporting this benefit, there are still several important technical challenges in introducing haptics in telesurgery, including instrumentation, fidelity (transparency), stability, and modalities for force reflection, e.g., direct or indirect. This article examines these challenges and discusses recent work on haptics-based teleoperated surgical robotic systems.

In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the case where the master interface is not haptics capable, but the slave is equipped with a force sensor. In the context of robotics-assisted soft-tissue surgical applications, we explore through human factors experiments whether slave/environment force measurements can be of any help with regard to improving task performance. The last problem we study is whether slave/environment force information, with and without haptic capability in the master interface, can help improve outcomes under degraded visual conditions.

In this survey, various concepts and methodologies developed over the past two decades for varying and learning the impedance or admittance of robotic systems that physically interact with humans are explored. For this purpose, the assumptions and mathematical formulations for the online adjustment of impedance models and controllers for physical human–robot interaction (HRI) are categorized and compared. In this systematic review, studies on: 1) variation and 2) learning of appropriate impedance elements are taken into account. These strategies are classified and described in terms of their objectives, points of view (approaches), and signal requirements (including position, HRI force, and electromyography activity). Different methods involving linear/nonlinear analyses (e.g., optimal control design and nonlinear Lyapunov-based stability guarantee) and the Gaussian approximation algorithms (e.g., Gaussian mixture model-based and dynamic movement primitives-based strategies) are reviewed. Current challenges and research trends in physical HRI are finally discussed.

This article proposes the novel concepts of the high-order discrete-time control barrier function (CBF) and adaptive discrete-time CBF. The high-order discrete-time CBF is used to guarantee forward invariance of a safe set for discrete-time systems of high relative degree. An optimization problem is then established unifying high-order discrete-time CBFs with discrete-time control Lyapunov functions to yield a safe controller. To improve the feasibility of such optimization problems, the adaptive discrete-time CBF is designed, which can relax constraints on system control input through time-varying penalty functions. The effectiveness of the proposed methods in dealing with high relative degree constraints and improving feasibility is verified on the discrete-time system of a three-link manipulator.