Using a Fingertip Tactile Device to Substitute Kinesthetic Feedback in Haptic Interaction

Prattichizzo, Domenico; Pacchierotti, Claudio; Cenci, Stefano; Minamizawa, Kouta; Rosati, Giulio

doi:10.1007/978-3-642-14064-8_19

Cited by 37 publications

(27 citation statements)

References 13 publications

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“…When motors span in opposite directions the belt applied a perpendicular force to the user's fingertip while, if motors span in the same direction, the belt applied a tangential force on the skin. That device was used in [10] to provide cutaneous feedback in an industrial application involving heavy duty machines, and in [11] for experiences of remote cutaneous interaction. A similar device has been also used in [12], where the authors presented a new approach to sensory substitution in haptics called sensory subtraction.…”

Section: Introductionmentioning

confidence: 99%

Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Pacchierotti

Chinello

Malvezzi

et al. 2012

Haptics: Perception, Devices, Mobility, and Communication

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Abstract. This paper presents an experiment of two finger grasping. The task considered is the peg-in-hole and the simulated force feedback is cutaneous or kinesthetic. The kinesthetic feedback is provided by a commercial haptic device while the cutaneous one is provided by a new haptic display proposed in this work, which allows to render at the fingertip a wide range of contact forces. The device consists of a mobile surface, which interacts with the fingertip, actuated by three wires directly connected to the motors placed on the grounded structure of the display. This work summarizes the design of the proposed display and presents the main relationships which describe its kinematics and dynamics. Results showed that cutaneous feedback exhibits improved performances when compared to visual feedback only.

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Section: Introductionmentioning

confidence: 99%

Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Pacchierotti

Chinello

Malvezzi

et al. 2012

Haptics: Perception, Devices, Mobility, and Communication

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“…• both kinesthetic and cutaneous feedback (i.e., the approach proposed here, task KC), • cutaneous feedback only (i.e., the approach employed in [12], [19], [15], task C), • kinesthetic feedback only, computed according to the unmodified algorithm presented in [7] (task K). Since the goal of the task is to avoid overrunning the stiff constraint, it is natural to consider, as a measure of transparency (i.e., of correct perception of the remote environment), the penetrationp inside the stiff constraint itself, averaged over the six repetitions of each experiment.…”

Section: Resultsmentioning

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%

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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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“…When one single motor is used as proposed by Inaba and Fujita (2006) only the pressure of a normal force can be displayed. With two motors as proposed by Minamizawa et al (2010) and Prattichizzo et al (2010), the belt can also induce a shear stress when the motors are moved in the same direction. These devices are very simple, compact, and light.…”

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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Using a Fingertip Tactile Device to Substitute Kinesthetic Feedback in Haptic Interaction

Cited by 37 publications

References 13 publications

Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback

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

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

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