Wolverine: A wearable haptic interface for grasping in virtual reality

“…For each application-specific property, we will highlight with which design selections it can be achieved. Once we have the design selections, we will start investigating the hand exoskeletons in the arXiv:1911.06408v1 [cs.RO] 14 Nov 2019 (a) Rehabilitation exoskeletons [15] (b) Assistive exoskeletons [16] (c) Haptic exoskeletons [17] literature to reveal all possible choices and discuss them from the perspective of target applications 1 . Finally, we will summarize the best design practices as a guideline for future designers.…”

Section: Introductionmentioning

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

101

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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 exist numerous examples of hand-grounded kinesthetic haptic devices, including [5]- [26]. These devices are either grounded against the back of the hand [5]- [19], act like a glove [20]- [22], are grounded against the user's palm [23], [24], or are grounded against the user's fingers [25], [26]. To the best of our knowledge, there exists no device that can be grounded against different locations on the user's hand or a study that explains the effect of different grounding locations on the user's haptic perception and qualitative experience with kinesthetic (force) feedback.…”

Section: Introductionmentioning

confidence: 99%

Effects of Different Hand-Grounding Locations on Haptic Performance With a Wearable Kinesthetic Haptic Device

Nisar

Martinez

Endo

et al. 2019

IEEE Robot. Autom. Lett.

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Grounding of kinesthetic feedback against a user's hand can increase the portability and wearability of a haptic device. However, the effects of different hand-grounding locations on haptic perception of a user are unknown. In this paper, we investigate the effects of three different hand-grounding locations -back of the hand, proximal phalanx of the index finger, and middle phalanx of the index finger -on haptic perception using a newly designed wearable haptic device. The novel device can provide kinesthetic feedback to the user's index finger in two directions: along the finger-axis and in the finger's flexion-extension movement direction. We measure users' haptic perception for each grounding location through a psychophysical experiment for each of the two feedback directions. Results show that among the studied locations, grounding at proximal phalanx has a smaller average Just Noticeable Difference for both feedback directions, indicating more sensitive haptic perception. The realism of the haptic feedback, based on user ratings, was highest with grounding at the middle phalanx for feedback along the finger axis, and at the proximal phalanx for feedback in the flexionextension direction. Users identified the haptic feedback as most comfortable with grounding at the back of the hand for feedback along the finger axis and at the proximal phalanx for feedback in the flexion-extension direction. These findings show that the choice of grounding location has significant impact on the user's haptic perception and qualitative experience. The results provide insights for designing next-generation wearable hand-grounded kinesthetic devices to achieve better haptic performance and user experience in virtual reality and teleoperated robotic applications.

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Wolverine: A wearable haptic interface for grasping in virtual reality

Cited by 202 publications

References 19 publications

Gestural Interaction for Virtual Reality Environments through Data Gloves

Gestural Interaction for Virtual Reality Environments through Data Gloves

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

Effects of Different Hand-Grounding Locations on Haptic Performance With a Wearable Kinesthetic Haptic Device

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