IEEE Robotics & Automation Magazine - March 2022 - 75

learning curves. Realistic but not constraining haptic
feedback can be added to improve the transparency and
performance of surgical teleoperation.
Acknowledgments
This work was supported by the European Union's Horizon
2020 Research and Innovation program under grant agreement
number 732515. Ethics approval for user studies was
provided by the University Ethics Committee at the University
of the West of England, United Kingdom. This work was
supported, in part, by the Horizon 2020 SMARTsurg project,
grant agreement 715232.
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Andrea Danioni, was with the Politecnico di Milano, Department
of Electronics, Information and Bioengineering, Milano,
20133, Italy. Email: andrea.danioni@live.it.
Gulfem Ceren Yavuz, was with the Politecnico di Milano,
Department of Electronics, Information and Bioengineering,
Milano, 20133, Italy. Email: ccereny@gmail.com.
Defne Ege Ozan, was with the Bristol Robotics Laboratory,
UWE, Bristol, BS16 1QY, U.K. Email: d.ozan@imperial.ac.uk.
Elena De Momi, is with the Politecnico di Milano, Department
of Electronics, Information and Bioengineering, Milano,
20133, Italy. Email: elena.demomi@polimi.it.
Anthony Koupparis, is with Southmead Hospital, North Bristol
NHS Trust, Bristol, BS10 5NB, U.K. Email: anthony.kouparis@
nbt.nhs.uk.
Sanja Dogramadzi, is with University of Sheffield, Sheffield,
S10 2TN, U.K. Email: s.dogramadzi@sheffield.ac.uk.
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IEEE Robotics & Automation Magazine - March 2022

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