Abstract
People use fixed handrests to complete routine dexterous activities such as providing a signature or making a sketch. Because the hand’s workspace for very fine motions is limited, we have developed an Active Handrest that extends a user’s dexterous workspace while providing ergonomic support. Our current Active Handrest prototype is a planar, computer controlled support for the user’s hand and wrist that allows complete control over a grasped tool. The device determines handrest motions by interpreting isometric (force) input from the user’s wrist, isotonic (position) input from a grasped manipulandum, or a blend of both inputs. Circle tracing experiments measuring task precision and completion time were conducted to investigate each control mode under various velocity limits for both experienced and novice users.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Okamura, A.: Methods for Haptic Feedback in Teleoperated Robot-Assisted Surgery. Industrial Robot. 31(6), 499–508 (2004)
Hogan, N., et al.: Motions or Muscles? Some Behavioral Factors Underlying Robotic Assistance of Motor Recovery. Jnl. Rehab. Res. Devel. 43, 605–618 (2006)
Kumar, R., et al.: Performance of Robotic Augmentation in Microsurgery-Scale Motions. In: Taylor, C., Colchester, A. (eds.) MICCAI 1999. LNCS, vol. 1679, pp. 1108–1115. Springer, Heidelberg (1999)
Ito, S., Yokokohji, Y.: Maneuverability of Master Control Devices Considering the Musculo-Skeletal Model of an Operator. In: Proc. of World Haptics. IEEE Society, Los Alamitos (2009)
Taylor, R., et al.: A Steady-Hand Robotic System for Microsurgical Augmentation. The International Journal of Robotics Research 18(12), 1201–1210 (1999)
Colgate, J., Wannasuphoprasit, W., Peshkin, M.: Cobots: Robots for Collaboration with Human Operators. In: Proc. ASME Dyn. Sys. Cont. Div., vol. DSC-58, pp. 433–440 (1996)
Barrow, A., Harwin, W.: High Bandwidth, Large Workspace Haptic Interaction: Flying Phantoms. In: Symp. Haptic Interfaces for Virt. Environ. and Teleop. Sys., pp. 295–302 (2008)
Zhai, S., Milgram, P.: Quantifying Coordination in Multiple DOF Movement and Its Application to Evaluating 6 DOF Input Devices. In: Proc. of SIGCHI conf. (1998)
Zhai, S.: Investigation of Feel for 6DOF Inputs: Isometric and Elastic Rate Control for Manipulation in 3D Environments. Human Factors & Ergonomics Society Proc. 37, 323–327 (1993)
Wu, M., Abbott, J., Okamura, A.: Effects of Velocity on Human Force Control. In: Proc. of First Joint World Haptics (2005)
Fehlberg, M., et al.: Active Handrest for Precision Manipulation and Ergonomic Support. In: Proc. of 2010 Haptics Symposium (2010)
Morris, D., Tan, H., Barbagli, F., Chang, T., Salisbury, K.: Haptic Feedback Enhances Force Skill Learning. In: Proc. of IEEE World Haptics (2007)
Ware, C., Arsenault, R.: Frames of Reference in Virtual Object Rotation. In: Proc. of 1st Symp. on Appld. perception in graphics and visualization. ACM, Los Angeles (2004)
Wise, S., Shadmehr, R.: Motor Control. In: Encyclopedia of the Human Brain, vol. 3. Elsevier Science, Amsterdam (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Fehlberg, M.A., Gleeson, B.T., Provancher, W.R. (2010). Analysis of Active Handrest Control Methods. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6191. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14064-8_47
Download citation
DOI: https://doi.org/10.1007/978-3-642-14064-8_47
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14063-1
Online ISBN: 978-3-642-14064-8
eBook Packages: Computer ScienceComputer Science (R0)