Ravindran Rahul
ABSTRACT
Present day haptic devices have yet to achieve multi-finger kinesthetic plus tactile feedback. This paper discusses the design of a Three-Finger gripper module that can attach to a commercial haptic device like the Novint Falcon. It will mimic grasping and lifting action and provide kinesthetic feedback via the Falcon and tactile feedback via the gripper. We first present a study on the forces exerted and typical angle and orientation of fingers while lifting or grasping an object. Based on the results obtained, we present a custom designed Three-Finger gripper module that fits on to the Novint Falcon. We show that when the user places his fingers in the finger holders and when the motors are actuated, the finger holders pull on the users' fingers and provide the required sensation.
- Geomagic Touch(formerly Phantom Omni), Haptic force feedback device from "SensAable Technologies Inc", http://geomagic.com/en/products/phantom-omni/overview.Google Scholar
- Novint Falcon, Haptic force feedback device from "Novint Technologies.", http://home.novint.com/products/novint_falcon.phpGoogle Scholar
- Israr, A., Schwemler, Z., Mars, J., & Krainer, B. (2016, November). VR360HD: a VR360° player with enhanced haptic feedback. In Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology (pp. 183--186). ACM. Google ScholarDigital Library
- Jansson, G., & Monaci, L. (2004). Haptic identification of objects with different numbers of fingers. in Touch, Blindness and Neuroscience, Madrid: UNED Press, 2004, 203--213 pGoogle Scholar
- Kim, K., Colgate, J. E., Santos-Munné, J. J., Makhlin, A., & Peshkin, M. A. (2010). On the design of miniature haptic devices for upper extremity prosthetics. IEEE/ASME Transactions on Mechatronics, 15(1), 27--39.Google ScholarCross Ref
- Panarese, A., & Edin, B. B. (2011). Human ability to discriminate direction of three-dimensional force stimuli applied to the finger pad. Journal of neurophysiology, 105(2), 541--547.Google ScholarCross Ref
- Lederman, S. J., & Klatzky, R. L. (2009). Haptic perception: A tutorial. Attention, Perception, & Psychophysics, 71(7), 1439--1459.Google ScholarCross Ref
- Tan, H. Z., Srinivasan, M. A., Eberman, B., & Cheng, B. (1994). Human factors for the design of force-reflecting haptic interfaces. Dynamic Systems and Control, 55(1), 353--359.Google Scholar
- Hale, K. S., & Stanney, K. M. (2004). Deriving haptic design guidelines from human physiological, psychophysical, and neurological foundations. IEEE computer graphics and applications, 24(2), 33--39. Google ScholarDigital Library
- Zadeh, M. H., Wang, D., & Kubica, E. (2007, October). Human factors for designing a haptic interface for interaction with a virtual environment. In Haptic, Audio and Visual Environments and Games, 2007. HAVE 2007. IEEE International Workshop on (pp. 21--26). IEEE.Google Scholar
- Akshay, N., Deepu, S., Rahul, E. S., Ranjith, R., Jose, J., Unnikrishnan, R., & Bhavani, R. R. (2013, November). Design and evaluation of a Haptic simulator for vocational skill Training and Assessment. In Industrial Electronics Society, IECON 2013--39th Annual Conference of the IEEE (pp. 6108--6113). IEEE.Google Scholar
- Jose, J., Unnikrishnan, R., Marshall, D., & Bhavani, R. R. (2014, October). Haptic simulations for training plumbing skills. In Haptic, Audio and Visual Environments and Games (HAVE), 2014 IEEE International Symposium on (pp. 65--70). IEEE.Google Scholar
- Jose, J., Unnikrishnan, R., Marshall, D., & Bhavani, R. R. (2016, December). Haptics enhanced multi-tool virtual interfaces for training carpentry skills. In Robotics and Automation for Humanitarian Applications (RAHA), 2016 International Conference on (pp. 1--6). IEEE.Google ScholarCross Ref
- Jose, J., Ramesh, S., Akshay, N., & Bhavani, R. R. (2013, August). TryStrokes: Learning on a digital canvas to paint in the real world. In Global Humanitarian Technology Conference: South Asia Satellite (GHTC-SAS), 2013 IEEE (pp. 68--73). IEEE.Google ScholarCross Ref
- Ang, Q. Z., Horan, B., Najdovski, Z., & Nahavandi, S. (2011, March). Grasping virtual objects with multi-point haptics. In Virtual Reality Conference (VR), 2011 IEEE (pp. 189--190). IEEE. Google ScholarDigital Library
- Achibet, M., Casiez, G., & Marchai, M. (2016, March). DesktopGlove: A multi-finger force feedback interface separating degrees of freedom between hands. In 3D User Interfaces (3DUI), 2016 IEEE Symposium on (pp. 3--12). IEEE.Google Scholar
- Minamizawa, K., Prattichizzo, D., & Tachi, S. (2010, March). Simplified design of haptic display by extending one-point kinesthetic feedback to multipoint tactile feedback. In Haptics Symposium, 2010 IEEE (pp. 257--260). IEEE. Google ScholarDigital Library
- Minamizawa, K., Kajimoto, H., Kawakami, N., & Tachi, S. (2007, March). A wearable haptic display to present the gravity sensation-preliminary observations and device design. In Second Joint Euro Haptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Tele operator Systems, World Haptics 2007. (pp. 133--138). IEEE. Google ScholarDigital Library
- Najdovski, Z., Nahavandi, S., & Fukuda, T. (2014). Design, Development, and Evaluation of a Pinch--Grasp Haptic Interface. IEEE/ASME transactions on mechatronics, 19(1), 45--54.Google ScholarCross Ref
- Okamura, A. M., Verner, L. N., Yamamoto, T., Gwilliam, J. C., & Griffiths, P. G. (2011). Force feedback and sensory substitution for robot-assisted surgery. In Surgical Robotics (pp. 419--448). Springer US.Google ScholarCross Ref
- Liu, L., Miyake, S., Akahane, K., & Sato, M. (2013, December). Development of string-based multi-finger haptic interface SPIDAR-MF. In Artificial Reality and Telexistence (ICAT), 2013 23rd International Conference on (pp. 67--71). IEEE.Google ScholarCross Ref
- Force Dimension. (2013). Omega-7 overview. URL http://www.forcedimension.com/omega7-overview.Google Scholar
- Wang, S., Li, J., & Zheng, R. (2010). A resistance compensation control algorithm for a cable-driven hand exoskeleton for motor function rehabilitation. Intelligent Robotics and Applications, 398--404. Google ScholarDigital Library
- Altobelli, A., Bianchi, M., Serio, A., Baud-Bovy, G., Gabiccini, M., & Bicchi, A. (2014, June). Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies. In Control and Automation (MED), 2014 22nd Mediterranean Conference of (pp. 346--350). IEEE.Google Scholar
- Slide Pot - Motorized (10k Linear Taper) COM-10976 https://www.sparkfun.com/products/10976.Google Scholar
- MakerBot Replicator 1, ©2009--2017 MakerBot® Industries. https://www.makerbot.com.Google Scholar
Index Terms
- Design of a novel Three-Finger haptic grasping system: Extending a Single point to Tripod grasp
Recommendations
Development of a Wearable Haptic Device that Presents the Haptic Sensation Corresponding to Three Fingers on the Forearm
SUI '18: Proceedings of the 2018 ACM Symposium on Spatial User InteractionNumerous methods have been proposed for presenting tactile sensations from objects in virtual environments. In particular, wearable tactile displays for the fingers, such as fingertip-type and glove-type displays, have been intensely studied. However, ...
Wearable Haptic Device that Presents the Haptics Sensation Corresponding to Three Fingers on the Forearm
UIST '18 Adjunct: Adjunct Proceedings of the 31st Annual ACM Symposium on User Interface Software and TechnologyIn this demonstration, as an attempt of a new haptic presentation method for objects in virtual reality (VR) environment, we show a device that presents the haptic sensation of the fingertip on the forearm, not on the fingertip. This device adopts a ...
A new haptic device for applications in virtual reality and humanoid robotics
Informatics in Control, Automation and RoboticsThis paper presents an innovative haptic interface that allows to simulate a generic touch sensation thanks to the integration of an electro-cutaneous device and a force-feedback system. After investigating different levels of interaction with the human ...
Comments