Abstract
We developed an HMD-integrated haptic device “SPIDAR-Fr,” which can present contact and friction sensations to stiff objects. The device consists of two DC motors with a rotary encoder and a brake module attached to the HMD. A ring-shaped device which is the end-effector is attached to a string wound around the shafts. The user attaches the end-effector to the fingertip to obtain haptic experiences for virtual objects. When the user’s fingertip comes into contact with a stiff object, the brake module stops the string from being pulled out, causing the string to collide with the fingertip and the reaction force to be perceived. Furthermore, if the finger is moved horizontally in that state, friction will occur between the skin of the fingertip and the fixed string, and the sensation of tracing can be perceived.
In this study, we used a spring-damper model and PWM control of the motors instead of the brake mechanism to enable SPIDAR-Fr to touch stiff and elastoplastic objects and present its reaction force. In addition, we added a thermal sensation presentation mechanism using a Peltier element to present the warm or cold sensation of the touched object. We named this device “SPIDAR-H&F”.
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Ooshima, T., Osaki, R., Matsukiyo, S., Sato, M., Yamaguchi, T., Harada, T. (2021). An HMD-Integrated Haptic Device for Force, Friction, and Thermal Sensations of Fingertip. In: Stephanidis, C., et al. HCI International 2021 - Late Breaking Papers: Multimodality, eXtended Reality, and Artificial Intelligence. HCII 2021. Lecture Notes in Computer Science(), vol 13095. Springer, Cham. https://doi.org/10.1007/978-3-030-90963-5_9
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DOI: https://doi.org/10.1007/978-3-030-90963-5_9
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