Force-feedback in Virtual Reality through PGM-based ForceHand glove

Das, Swagata; Thakur, Chetan; Kurita, Yuichi

doi:10.1109/sii46433.2020.9025896

Cited by 3 publications

(4 citation statements)

References 11 publications

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“…PWM-based force-feedback was generally rated more realistic as compared to the binary method. Some open-ended comments from various participants are listed as follows [4]:…”

Section: Open-ended Feedbackmentioning

confidence: 99%

“…User study to render physicality for objects in virtual reality (VR)[4]..4.21 Subjective feedback obtained from user-study for various types of feedback List of Tables 1.1 Comparison of the existing robotic systems for the upper limb with ForceArm. Here, actuation delay refers to the time required to attain the desired torque after receiving the command.…”

mentioning

confidence: 99%

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confidence: 99%

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ForceArm: A Wearable Pneumatic Gel Muscle (PGM)-Based Assistive Suit for the Upper Limb

Das

Kurita

2020

IEEE Trans. Med. Robot. Bionics

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Introduction 1.1 Background and motivationThe upper limb of the human body plays a vital role in our day to day life. It is an essential part of the body to maintain a good quality of life (QoL). Any injury or weakness in the upper limb can result in unsatisfactory living conditions leading to mental and additional physical illnesses. We perform many small yet fundamental tasks such as navigation inside a building by opening and closing doorknobs, lifting objects, typing, changing clothes, taking a shower, holding phones to talk and more using our upper limb. Therefore, disorders in the upper limb of patients and older adults can adversely affect their QoL. Frequently performing physically demanding activities often leads to wearing down of the muscles in our body, which in turn, makes regular performance in day to day activities difficult and time taking due to successive pain and numbness. Other reasons for similar irregularity in muscular functioning may also result from repetitive motions involved in sports such as tennis, badminton, cricket and others. The upper limb comprises of three joints, namely the wrist, elbow and shoulder.These are very complicated joints when it comes to recovery and rehabilitation. Besides, the complexity of the wrist joint often makes it challenging to design a rehabilitation or assistive device. Additionally, the wrist dynamics play a significant role in the decisions Recent researches in the field of haptic technology mainly focus on replication of haptic properties of objects by simulating the contact of user's fingertips with different types of surfaces or textures [64,65]. Interaction with objects have force effects on the wrist or the forearm of the user, but such effects are not yet thoroughly studied. A conventional table-top force-feedback device, Phantom [48] could render such forces on the user's forearm. However, due to its grounded configuration, it can be utilized only for stationary applications. Another approach for realizing force-feedback effects on the forearm was using SPIDAR [66] and SPIDAR-W [67], the prior being grounded

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“…PWM-based force-feedback was generally rated more realistic as compared to the binary method. Some open-ended comments from various participants are listed as follows [4]:…”

Section: Open-ended Feedbackmentioning

confidence: 99%

mentioning

confidence: 99%

See 1 more Smart Citation

ForceArm: A Wearable Pneumatic Gel Muscle (PGM)-Based Assistive Suit for the Upper Limb

Das

Kurita

2020

IEEE Trans. Med. Robot. Bionics

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“…It is important to provide good haptic feedback in order to obtain information about contact with the objects in the virtual environment [1]. Most researches have primarily focused on studies of fast and accurate collision detection algorithm [2] and simulating haptic properties of objects [3]. As the interface equipment of the human-computer interaction, force feedback device provides the operators with the information of weight, hardness, inertia and so on close to the real environment, which enhances the operator's sense of reality and immersion.…”

Section: Introductionmentioning

confidence: 99%

Model-Based Load Characteristics Analysis of the Multi-Dimensional Force Sensor

Song

2020

IEEE Access

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As an important component of force feedback devices, the multi-dimensional force sensor (MDFS) has been widely used in haptic devices, prosthetic hands, and other devices. The structural distribution of the stiffness and mass of an MDFS is key to deeply understand its dynamic performance. To obtain this information, a model-based method for load characteristics analysis of the MDFS is proposed in this paper. The dynamic behavior of the force sensor for a given load is described by a lumped mass model consisting of spring-mass-damper elements and characterized by the model parameters that describe the dynamic correlation distribution of mass, stiffness, and damping. Compared with the results of finite element analysis (FEA) and the spectrum analysis of the step response, the natural frequencies with different load masses are in accordance with the model based on the proposed method. The main purpose of the proposed method is the description of the load characteristics of the MDFS, independent of the given mechanical environment, which provides a certain theoretical reference for the calculation of the load capacity of the force sensor. Meanwhile, in order to improve the dynamic performance, a dynamic compensated filter is added to the force sensor coupling system, thereby broadening the operation frequency and greatly reducing the response time.

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