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Designing an Encountered-Type Haptic Display for Multiple Fingertip Contacts Based on the Observation of Human Grasping Behavior

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Robotics Research. The Eleventh International Symposium

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 15))

Abstract

Unlike conventional haptic devices, an encountered-type device is not held by a user all the time. Instead, the device stays at the location of a virtual object and waits for the user to encounter it. In this paper, we extend this concept to fingertip contacts and design an encountered-type haptic display for multiple fingertip contacts to simulate tasks of grasping an object with any shape and size. Before designing the device, we intensively observed human grasping behaviors. This observation was very helpful to determine the mechanism of the device. An encountered-type device for three-fingered grasping was actually prototyped based on our design.

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Authors and Affiliations

  1. Department of Mechanical Engineering Graduate School of Engineering, Kyoto University, Kyoto, 606-8501, Japan

    Yasuyoshi Yokokohji, Nobuhiko Muramori, Yuji Sato & Tsuneo Yoshikawa

Authors
  1. Yasuyoshi Yokokohji
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  2. Nobuhiko Muramori
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  3. Yuji Sato
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  4. Tsuneo Yoshikawa
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Editor information

Editors and Affiliations

  1. CRIM & ARTS Labs, Polo Sant’Anna Valdera, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy

    Paolo Dario

  2. LAAS-CNRS, 7, avenue du Colonel Roche, 31077, Toulouse cedex 4, France

    Raja Chatila

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© 2005 Springer-Verlag Berlin Heidelberg

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Cite this paper

Yokokohji, Y., Muramori, N., Sato, Y., Yoshikawa, T. (2005). Designing an Encountered-Type Haptic Display for Multiple Fingertip Contacts Based on the Observation of Human Grasping Behavior. In: Dario, P., Chatila, R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11008941_20

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  • DOI: https://doi.org/10.1007/11008941_20

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23214-8

  • Online ISBN: 978-3-540-31508-7

  • eBook Packages: EngineeringEngineering (R0)

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