A finger skill transfer system using a multi-fingered haptic interface robot and a hand motion image

Abstract

The teaching of how to exert fingertip forces and how to move the fingers is essential for transferring skill using the fingers to perform fine motor tasks. In this paper we accomplish the transfer of fingertip forces and positions in three-dimensional space by combining a multi-fingered haptic interface robot, which can measure and present the three-dimensional forces and positions at five fingertips, and an image display system that records a trainer's hand image and displays it to a trainee. Several experimental results show a high fingertip force and position transferability and the great potential of our proposed transfer system.

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove

“…Force information is critical since without force feedback it is difficult to understand whether an object is in a stable grasp position for the operator in Virtual Reality (VR) and teleoperation applications. Recently, several five-finger force feedback devices have been developed [10,[31][32][33][34][35][36]. Those finger haptic devices can be divided into passive or active force feedback devices.…”