Multi-armed dexterous manipulator operation using glove/exoskeleton control and sensory feedback

Abstract

Developments in Tele-presence have served to demonstrate the requirements for an advanced realistic user interface to remote and virtual entities. Most of these applications have concentrated on visual and audio feedback but recent research has highlighted the need for tactile input, control and feedback. This work will report on the operator inpufffeedback and robot sensorykontrol aspects of a dexterous manipulation system possessed of two arms (left and right) and two dexterous multi-jointed skeletal 'hands'. The operator input units developed include a light weight 7 degree of freedom arm exoskeleton combined with a cutaneous tactile feedback glove providing finger input control and tactile feedback of contact force, vibrational and thermal data in a system with an overall mass of less than 0.75kg. This provides a user friendly system that can be used for extended periods without excessive strain. Exoskeletons and Input Devices.A number of body, leg, arm and hand exoskeletons have been designed and tested, with the aim of providing some or all of the tactileiforce feedback data outlined above. 567 0-8186-7108-4/95 $4.00 0 1995 IEEE

Effect of temperature in perceiving tactile stimulus using a thermo-tactile display

“…As Howe noted, thermal display is a relatively new area of research [7] and so far it has focused on experimental methods used for displaying material's thermal properties [3,9]. Displaying a whole sensation which is true holistic haptic feedback, involves displaying kinesthetic, tactile, and thermal display and has been attempted by several researchers [3,4,8]. However, the previously developed systems are limited in their ability to display vibration only in terms of tactile display.…”

Thermo-Tactile Interaction Using Tactile Display Device

“…As Howe(2002) noted, thermal display is a relatively new area of research and so far it has focused on experimental methods used for displaying material's thermal properties (Caldwell, et al,1997;Ino, et al,1993). Displaying a whole sensation which is true holistic haptic display, involves displaying kinesthetic, tactile, and thermal display and has been attempted by several researchers (Caldwell, et al,1997;Kammermeier, et al, 2004;Caldwell, et al,1995). However, the previously developed systems are limited in their ability to display vibration only in terms of tactile display.…”

A Novel Interactive Mouse System for Holistic Haptic Display in a Human-Computer Interface

“…listic haptic display, the interface should display the thermal property as well as surface properties like roughness, shape, and texture. Thermal display is a relatively new area of research, and so far the focus has been on finding experimental methods to display an object's thermal property (Caldwell, Kocak, & Andersen, 1995;Ino et al, 1993). Holistic haptic feedback, which means displaying an entire gamut of sensations, including kinesthetic, vibrotactile, and thermal, has been attempted by several researchers, including Kammermeier, Kron, Hoogen, and Schmidt (2004) and Caldwell, Tsagarakis, and Wardle (1997).…”