A 4-DoF wearable hand device for haptic rendering of surfaces and edges

Lisheng Kuang; Monica Malvezzi; Marco Ferro; Domenico Prattichizzo; Paolo Robuffo Giordano; Francesco Chinello; Claudio Pacchierotti

doi:10.1016/j.mechatronics.2024.103173

A 4-DoF wearable hand device for haptic rendering of surfaces and edges

Lisheng Kuang, Monica Malvezzi, Marco Ferro, Domenico Prattichizzo, Paolo Robuffo Giordano, Francesco Chinello, Claudio Pacchierotti

Department of Business Development and Technology

Research output: Contribution to journal/Conference contribution in journal/Contribution to newspaper › Journal article › Research › peer-review

Abstract

We present a 4-degrees-of-freedom (4-DoF) wearable haptic device for the palm, able to provide the sensation of interacting with slanted surfaces and edges. It is composed of a static upper body, secured to the back of the hand, and a mobile end-effector, placed in contact with the palm. They are connected by two articulated arms, actuated by four servo motors housed on the upper body and along the arms. The end-effector is a foldable flat surface that can make/break contact with the palm to provide pressure feedback, move sideways to provide skin stretch and tangential motion feedback, and fold to elicit the sensation of interacting with different curvatures. The paper presents the design of the wearable haptic device, together with its mobility, statics, and manipulability, as well as direct, inverse, and differential kinematics. We also present a position control scheme for the device, which is then quantitatively evaluated.

Original language	English
Article number	103173
Journal	Mechatronics
Volume	99
Number of pages	13
ISSN	0957-4158
DOIs	https://doi.org/10.1016/j.mechatronics.2024.103173
Publication status	Published - May 2024

Keywords

Haptics
Wearables
Encounter Type Haptics

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10.1016/j.mechatronics.2024.103173

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title = "A 4-DoF wearable hand device for haptic rendering of surfaces and edges",

abstract = "We present a 4-degrees-of-freedom (4-DoF) wearable haptic device for the palm, able to provide the sensation of interacting with slanted surfaces and edges. It is composed of a static upper body, secured to the back of the hand, and a mobile end-effector, placed in contact with the palm. They are connected by two articulated arms, actuated by four servo motors housed on the upper body and along the arms. The end-effector is a foldable flat surface that can make/break contact with the palm to provide pressure feedback, move sideways to provide skin stretch and tangential motion feedback, and fold to elicit the sensation of interacting with different curvatures. The paper presents the design of the wearable haptic device, together with its mobility, statics, and manipulability, as well as direct, inverse, and differential kinematics. We also present a position control scheme for the device, which is then quantitatively evaluated.",

keywords = "Haptics, Wearables, Encounter Type Haptics",

author = "Lisheng Kuang and Monica Malvezzi and Marco Ferro and Domenico Prattichizzo and Giordano, {Paolo Robuffo} and Francesco Chinello and Claudio Pacchierotti",

year = "2024",

month = may,

doi = "10.1016/j.mechatronics.2024.103173",

language = "English",

volume = "99",

journal = "Mechatronics",

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AU - Kuang, Lisheng

AU - Malvezzi, Monica

AU - Ferro, Marco

AU - Prattichizzo, Domenico

AU - Giordano, Paolo Robuffo

AU - Chinello, Francesco

AU - Pacchierotti, Claudio

PY - 2024/5

Y1 - 2024/5

N2 - We present a 4-degrees-of-freedom (4-DoF) wearable haptic device for the palm, able to provide the sensation of interacting with slanted surfaces and edges. It is composed of a static upper body, secured to the back of the hand, and a mobile end-effector, placed in contact with the palm. They are connected by two articulated arms, actuated by four servo motors housed on the upper body and along the arms. The end-effector is a foldable flat surface that can make/break contact with the palm to provide pressure feedback, move sideways to provide skin stretch and tangential motion feedback, and fold to elicit the sensation of interacting with different curvatures. The paper presents the design of the wearable haptic device, together with its mobility, statics, and manipulability, as well as direct, inverse, and differential kinematics. We also present a position control scheme for the device, which is then quantitatively evaluated.

AB - We present a 4-degrees-of-freedom (4-DoF) wearable haptic device for the palm, able to provide the sensation of interacting with slanted surfaces and edges. It is composed of a static upper body, secured to the back of the hand, and a mobile end-effector, placed in contact with the palm. They are connected by two articulated arms, actuated by four servo motors housed on the upper body and along the arms. The end-effector is a foldable flat surface that can make/break contact with the palm to provide pressure feedback, move sideways to provide skin stretch and tangential motion feedback, and fold to elicit the sensation of interacting with different curvatures. The paper presents the design of the wearable haptic device, together with its mobility, statics, and manipulability, as well as direct, inverse, and differential kinematics. We also present a position control scheme for the device, which is then quantitatively evaluated.

KW - Haptics

KW - Wearables

KW - Encounter Type Haptics

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DO - 10.1016/j.mechatronics.2024.103173

M3 - Journal article

SN - 0957-4158

VL - 99

JO - Mechatronics

JF - Mechatronics

M1 - 103173

ER -

A 4-DoF wearable hand device for haptic rendering of surfaces and edges

Abstract

Keywords

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