Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Pacchierotti, Claudio; Chinello, Francesco; Malvezzi, Monica; Meli, Leonardo; Prattichizzo, Domenico

doi:10.1007/978-3-642-31401-8_34

Cited by 65 publications

(50 citation statements)

References 26 publications

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“…A second approach of this technology consists in using three actuators that tighten wires as proposed by Chinello et al (2012), Pacchierotti et al (2012), Meli et al (2014), and Scheggi et al (2015). The wires are attached to a tiny disk placed under the fingertip.…”

Section: Belt or Wire Tighteningmentioning

confidence: 99%

HapTip: Displaying Haptic Shear Forces at the Fingertips for Multi-Finger Interaction in Virtual Environments

et al. 2016

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The fingertips are one of the most important and sensitive parts of our body. They are the first stimulated areas of the hand when we interact with our environment. Providing haptic feedback to the fingertips in virtual reality could, thus, drastically improve perception and interaction with virtual environments. In this paper, we present a modular approach called HapTip to display such haptic sensations at the level of the fingertips. This approach relies on a wearable and compact haptic device able to simulate 2 Degree of Freedom (DoF) shear forces on the fingertip with a displacement range of ±2 mm. Several modules can be added and used jointly in order to address multi-finger and/or bimanual scenarios in virtual environments. For that purpose, we introduce several haptic rendering techniques to cover different cases of 3D interaction, such as touching a rough virtual surface, or feeling the inertia or weight of a virtual object. In order to illustrate the possibilities offered by HapTip, we provide four use cases focused on touching or grasping virtual objects. To validate the efficiency of our approach, we also conducted experiments to assess the tactile perception obtained with HapTip. Our results show that participants can successfully discriminate the directions of the 2 DoF stimulation of our haptic device. We found also that participants could well perceive different weights of virtual objects simulated using two HapTip devices. We believe that HapTip could be used in numerous applications in virtual reality for which 3D manipulation and tactile sensations are often crucial, such as in virtual prototyping or virtual training.

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Section: Belt or Wire Tighteningmentioning

confidence: 99%

HapTip: Displaying Haptic Shear Forces at the Fingertips for Multi-Finger Interaction in Virtual Environments

et al. 2016

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“…Cutaneous feedback has been widely employed in the past years, due to the richness of information conveyed by cutaneous stimuli [17] and the appealing opportunity of developing haptic devices which are portable, wearable and inexpensive [19], [18], [20]. Moreover, employing cutaneous stimuli to provide force feedback in a teleoperation system makes this system intrinsically stable, since the force fed back is applied directly to the user's skin and does not affect the position of the end-effector of the master device, thus opening the haptic loop [12] (see Fig.…”

Section: Cutaneous Force Feedbackmentioning

confidence: 99%

“…1). This is why cutaneous feedback has been efficiently employed in different teleoperation scenarios [12], [19], [15] and will be employed here to enhance the transparency of common teleoperation systems without affecting their stability.…”

Section: Cutaneous Force Feedbackmentioning

confidence: 99%

Improving transparency in passive teleoperation by combining cutaneous and kinesthetic force feedback

Pacchierotti

Tirmizi

Bianchini

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-A novel idea for improving transparency of teleoperation systems with force feedback is presented. This approach is based on the idea of sensory subtraction presented in [12], and consists of providing the operator with independently controlled kinesthetic and cutaneous feedback to improve the realism of haptic rendering of the remote environment (i.e., transparency), while preserving stability. More specifically, cutaneous force feedback is employed to recover transparency when a lack of kinesthetic feedback has to be enforced to keep the teleoperation loop stable. The viability of this approach is demonstrated with two experiments of teleoperated needle insertion. Results showed improved performance with respect to common control techniques not employing the proposed cutaneous compensation.

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“…This new generation of wearable haptic systems (WHS) [3] can convey tactile cues in a more natural fashion, while being easily worn by users, carried around, and integrated in everyday life. This shift in system design has opened up exciting avenues in many application fields, such as virtual reality and assistive robotics [4][5][6]. One of the most convincing motivations for this change relies on the possibility to integrate WHS with the human body with minimal constraints [7], thus enabling a more natural investigation of human behavior and human-robot interaction (HRI).…”

Section: Introductionmentioning

confidence: 99%

A Fabric-Based Approach for Wearable Haptics

Bianchi

2016

Electronics

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Abstract:In recent years, wearable haptic systems (WHS) have gained increasing attention as a novel and exciting paradigm for human-robot interaction (HRI). These systems can be worn by users, carried around, and integrated in their everyday lives, thus enabling a more natural manner to deliver tactile cues. At the same time, the design of these types of devices presents new issues: the challenge is the correct identification of design guidelines, with the two-fold goal of minimizing system encumbrance and increasing the effectiveness and naturalness of stimulus delivery. Fabrics can represent a viable solution to tackle these issues. They are specifically thought "to be worn", and could be the key ingredient to develop wearable haptic interfaces conceived for a more natural HRI. In this paper, the author will review some examples of fabric-based WHS that can be applied to different body locations, and elicit different haptic perceptions for different application fields. Perspective and future developments of this approach will be discussed.

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Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Cited by 65 publications

References 26 publications

HapTip: Displaying Haptic Shear Forces at the Fingertips for Multi-Finger Interaction in Virtual Environments

HapTip: Displaying Haptic Shear Forces at the Fingertips for Multi-Finger Interaction in Virtual Environments

Improving transparency in passive teleoperation by combining cutaneous and kinesthetic force feedback

A Fabric-Based Approach for Wearable Haptics

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