Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove

Ben-Tzvi, Pinhas; Ma, Zhou

doi:10.1109/tnsre.2014.2378171

Cited by 74 publications

(46 citation statements)

References 50 publications

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“…Most of force feedback interfaces allow the user a 3-degree-of-freedom (3DOF) or 6-degree-of-freedom (6DOF) motion and provide kinesthetic feedback to a tool or a stylus/stylus that s/he is holding during virtual interaction [1][2][3][4] . A specific form of the force feedback interface is a glove-type or exoskeleton force feedback interface, which can represent contact force to the user's fingertips [5][6][7][8][9] . This type of haptic interface has the advantage of letting the user directly feel the contact at his/her fingers while minimizing the constraint on hand movement.…”

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confidence: 99%

Effect of Cutaneous Feedback on the Perception of Virtual Object Weight during Manipulation

Park

Son

Han

et al. 2020

Sci Rep

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Haptic interface technologies for virtual reality applications have been developed to increase the reality and manipulability of a virtual object by creating a diverse tactile sensation. Most evaluation of the haptic technologies, however, have been limited to the haptic perception of the tactile stimuli via static virtual objects. Noting this, we investigated the effect of lateral cutaneous feedback, along with kinesthetic feedback on the perception of virtual object weight during manipulation. We modeled the physical interaction between a participant's finger avatars and virtual objects. The haptic stimuli were rendered with custom-built haptic feedback systems that can provide kinesthetic and lateral cutaneous feedback to the participant. We conducted two virtual object manipulation experiments, 1. a virtual object manipulation with one finger, and 2. the pull-out and lift-up of a virtual object grasped with a precision grip. The results of Experiment 1 indicate that the participants felt the virtual object rendered with lateral cutaneous feedback significantly heavier than with only kinesthetic feedback (p < 0.05 for m ref = 100 and 200 g). Similarly, the participants of Experiment 2 felt the virtual objects significantly heavier when lateral cutaneous feedback was available (p < 0.05 for m ref = 100, 200, and 300 g). Therefore, the additional lateral cutaneous feedback to the force feedback led the participants to feel the virtual object heavier than without the cutaneous feedback. The results also indicate that the contact force applied to a virtual object during manipulation can be a function of the perceived object weight (p = 0.005 for Experiment 1 and p = 0.02 for Experiment 2).

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confidence: 99%

Effect of Cutaneous Feedback on the Perception of Virtual Object Weight during Manipulation

Park

Son

Han

et al. 2020

Sci Rep

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“…Unlike coupled devices, fingertip devices interact with user's finger from a single point and control the fingertip position regardless how finger joints move (Figure 7(d)) [25], [38], [56], [57], [60], [63], [66]. Each finger component is controlled using a single actuator, so they are low-cost, easily wearable and portable.…”

Section: Kinematics Selectionmentioning

confidence: 99%

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Saraç

Solazzi

Frisoli

2019

IEEE Trans. Haptics

100

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Most current hand exoskeletons have been designed specifically for rehabilitation, assistive or haptic applications to simplify the design requirements. Clinical studies on post-stroke rehabilitation have shown that adapting assistive or haptic applications into physical therapy sessions significantly improves the motor learning and treatment process. The recent technology can lead to the creation of generic hand exoskeletons that are application-agnostic. In this paper, our motivation is to create guidelines and best practices for generic exoskeletons by reviewing the literature of current devices. First, we describe each application and briefly explain their design requirements, and then list the design selections to achieve these requirements. Then, we detail each selection by investigating the existing exoskeletons based on their design choices, and by highlighting their impact on application types. With the motivation of creating efficient generic exoskeletons in the future, we finally summarize the best practices in the literature.Index Terms-hand exoskeletons, rehabilitation hand exoskeletons, assistive hand exoskeletons, haptic hand exoskeletons

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“…There have been two main approaches for designing exoskeleton gloves throughout the years. Many researchers use the traditional approach toward building an exoskeleton glove, which involves using rigid links and joints to apply forces to the corresponding joints of the human hand to provide assistance with flexion and extension [7][8][9][10][11][12][13][14][15][16][17][18][19]. Most of these exoskeleton gloves are designed with the link frames placed on top of the fingers and hand instead of alongside the fingers.…”

Section: Introductionmentioning

confidence: 99%

Two-Digit Robotic Exoskeleton Glove Mechanism: Design and Integration

Refour

Sebastian

Ben-Tzvi

2018

Journal of Mechanisms and Robotics

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This paper presents the design and integration of a two-digit robotic exoskeleton glove mechanism. The proposed glove is designed to assist the user with grasping motions, such as the pincer grasp, while maintaining a natural coupling relationship among the finger and thumb joints, resembling that of a normal human hand. The design employs single degree-of-freedom (DOF) linkage mechanisms to achieve active flexion and extension of the index finger and thumb. This greatly reduces the overall weight and size of the system making it ideal for prolonged usage. The paper describes the design, mathematical modeling of the proposed system, detailed electromechanical design, and software architecture of the integrated prototype. The prototype is capable of recording information about the index finger and thumb movements, interaction forces exerted by the finger/thumb on the exoskeleton, and can provide feedback through vibration. In addition, the glove can serve as a standalone device for rehabilitation purposes, such as assisting in achieving tip or pulp pinch. The paper concludes with an experimental validation of the proposed design by comparing the motion produced using the exoskeleton glove on a wooden mannequin with that of a natural human hand.

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Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove

Cited by 74 publications

References 50 publications

Effect of Cutaneous Feedback on the Perception of Virtual Object Weight during Manipulation

Effect of Cutaneous Feedback on the Perception of Virtual Object Weight during Manipulation

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Two-Digit Robotic Exoskeleton Glove Mechanism: Design and Integration

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