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The Human Hand as an Inspiration for Robot Hand Development pp 363–388Cite as

Multi-finger Haptic Displays for Characterization of Hand Response

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 95))

Abstract

This chapter will describe some properties of multi-finger haptic interaction and two devices which support it. Multi-finger haptic interaction can involve many contacts with the environment, but can also involve only one contact point when mediated by a tool such as a pen. As multiple fingers interact with the environment, their individual biomechanics and their sensory properties interact to form the net mechano-sensory properties of the interaction. This chapter will look at such interactions in two particular cases, spatially varying stiffness of the pen grasp, and sensory thresholds of multi-finger versus single finger interaction with haptic features. To characterize the stiffness of the pen-like grasp in various directions, we describe experiments in which force steps (randomized in amplitude and direction) were applied to subjects’ pen-like tools in the plane tangential to the tip. From these, the stiffness ellipse could be identified. A dynamical model of the fingers positioned similarly to the user’s grasp was used to predict the stiffness ellipsoids with similar results. The ellipsoids were shown to be a function of the squeezing force with which the subjects performed the grasps. Much of the research on sensitivity and sensory thresholds is based on measurements with a single finger. We developed a multi-finger haptic device (MFHD) to allow two high quality degrees of freedom for each of four fingers in a natural pose. With this device we could compare the sensory thresholds between single finger and multiple finger haptic exploration.

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Notes

  1. 1.

    INTERLINK Electronics, Santa Barbara, CA.

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Author information

Authors and Affiliations

  1. Biorobotics Lab, Department of Electrical Engineering, The University of Washington, Seattle, WA, USA

    Blake Hannaford & Hawkeye King

  2. Research & Advanced Engineering, Ford Motor Company, Dearborn, MI, USA

    Pietro Buttolo

Authors
  1. Blake Hannaford
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  2. Pietro Buttolo
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  3. Hawkeye King
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Correspondence to Blake Hannaford or Hawkeye King .

Editor information

Editors and Affiliations

  1. Oregon State University, Corvallis, Oregon, USA

    Ravi Balasubramanian

  2. Mechanical and Aerospace Engineering, Arizona State University, Tempe, Arizona, USA

    Veronica J. Santos

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Hannaford, B., Buttolo, P., King, H. (2014). Multi-finger Haptic Displays for Characterization of Hand Response. In: Balasubramanian, R., Santos, V. (eds) The Human Hand as an Inspiration for Robot Hand Development. Springer Tracts in Advanced Robotics, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-319-03017-3_17

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  • DOI: https://doi.org/10.1007/978-3-319-03017-3_17

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