Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Zubrycki, Igor; Granosik, Grzegorz

doi:10.1007/s10846-016-0392-6

Cited by 54 publications

(26 citation statements)

References 31 publications

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“…Others employ an in-hand design and are thus grounded within the user's palm matching each finger with an actuator [6] or come in the form of a mitten [48]. Resistive versions can produce large resistance force during grasping by jamming brakes [58] or by locking sliders, such as in Wolverine [9]. TouchVR [51] is a hand mounted haptic device that produces touch sensation on the middle of the palm using a small deltoid robot.…”

Section: Wearable Haptic Devicesmentioning

confidence: 99%

Haptic PIVOT

Kovács

Ofek

Franco

et al. 2020

Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology

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We present PIVOT, a wrist-worn haptic device that renders virtual objects into the user's hand on demand. Its simple design comprises a single actuated joint that pivots a haptic handle into and out of the user's hand, rendering the haptic sensations of grasping, catching, or throwing an objectanywhere in space. Unlike existing hand-held haptic devices and haptic gloves, PIVOT leaves the user's palm free when not in use, allowing users to make unencumbered use of their hand. PIVOT also enables rendering forces acting on the held virtual objects, such as gravity, inertia, or air-drag, by actively driving its motor while the user is firmly holding the handle. When wearing a PIVOT device on both hands, they can add haptic feedback to bimanual interaction, such as lifting larger objects. In our user study, participants (n=12) evaluated the realism of grabbing and releasing objects of different shape and size with mean score 5.19 on a scale from 1 to 7, rated the ability to catch and throw balls in different directions with different velocities (mean=5.5), and verified the ability to render the comparative weight of held objects with 87% accuracy for ~100g increments.

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Section: Wearable Haptic Devicesmentioning

confidence: 99%

Haptic PIVOT

Kovács

Ofek

Franco

et al. 2020

Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology

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“…The ongoing research on soft actuators aims to develop clutches, brakes, dampers and devices based either on specific phase change materials (e.g., low melting point materials, Taghavi et al, 2018 , electro- and magneto-rheological fluids, Petek, 1992 ; Carlson and Jolly, 2000 ; Oh and Onoda, 2002 ; Nikitczuk et al, 2010 ; Alkan et al, 2013 ) or on a friction-based mechanism (e.g., electro-adhesion, Diller et al, 2016 ; Ramachandran et al, 2019 , jamming and cable tensioning Walsh et al, 2007 ; Van Dijk et al, 2011 ). Vacuum-controlled jamming (either particles or layers) is a suitable technology that has found a number of uses within the robotics community (Brown et al, 2010 ; Follmer et al, 2012 ; Jiang et al, 2012 ; Stanley et al, 2013 ; Li et al, 2014 ; Zubrycki and Granosik, 2017 ; Sadeghi et al, 2018 ). In the field of wearable robotics, Hauser et al ( 2017 ) a wearable joint support was developed based on granular jamming controlled by pressure.…”

Section: Introductionmentioning

confidence: 99%

Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton

et al. 2020

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There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their uptakes in mainstream daily life. The XoSoft EU project developed a modular soft lower-limb exoskeleton to assist people with low mobility impairments. This paper presents the bio-inspired design of a soft, modular exoskeleton for lower limb assistance based on pneumatic quasi-passive actuation. The design of a modular reconfigurable prototype and its performance are presented. This actuation centers on an active mechanical element to modulate the assistance generated by a traditional passive component, in this case an elastic belt. This study assesses the feasibility of this type of assistive device by evaluating the energetic outcomes on a healthy subject during a walking task. Human-exoskeleton interaction in relation to task-based biological power assistance and kinematics variations of the gait are evaluated. The resultant assistance, in terms of overall power ratio () between the exoskeleton and the assisted joint, was 26.6% for hip actuation, 9.3% for the knee and 12.6% for the ankle. The released maximum power supplied on each articulation, was 113.6% for the hip, 93.2% for the knee, and 150.8% for the ankle.

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“…However, these devices suffer from a lack of Degrees of Freedom (DoF) in comparison to the human hand, thus limiting their capabilities. These gloves range from one DoF per finger, as in the CyberGrasp (CyberGlove Systems LLC, CA, US), to more advanced devices based on different actuation techniques [ 7 – 9 ]. As mentioned, all of these devices are "generic" and could potentially benefit from the addition of personalization.…”

Section: Introductionmentioning

confidence: 99%

Analysis of subject specific grasping patterns

2020

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Existing haptic feedback devices are limited in their capabilities and are often cumbersome and heavy. In addition, these devices are generic and do not adapt to the users' grasping behavior. Potentially, a human-oriented design process could generate an improved design. While current research done on human grasping was aimed at finding common properties within the research population, we investigated the dynamic patterns that make human grasping behavior distinct rather than generalized, i.e. subject specific. Experiments were conducted on 31 subjects who performed grasping tasks on five different objects. The kinematics and kinetics parameters were measured using a motion capture system and force sensors. The collected data was processed through a pipeline of dimensionality reduction and clustering algorithms. Using finger joint angles and reaction forces as our features, we were able to classify these tasks with over 95% success. In addition, we examined the effects of the objects' mechanical properties on those patterns and the significance of the different features for the differentiation. Our results suggest that grasping patterns are, indeed, subject-specific; this, in turn, could suggest that a device capable of providing personalized feedback can improve the user experience and, in turn, increase the usability in different applications. This paper explores an undiscussed aspect of human dynamic patterns. Furthermore, the collected data offer a valuable dataset of human grasping behavior, containing 1083 grasp instances with both kinetics and kinematics data.

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Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Cited by 54 publications

References 31 publications

Haptic PIVOT

Haptic PIVOT

Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton

Analysis of subject specific grasping patterns

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