TY - JOUR
T1 - A Wearable Haptic Device for the Hand with Interchangeable End-Effectors
AU - Huang, Lisheng
AU - Ferro, Marco
AU - Malvezzi, Monica
AU - Prattichizzo, Domenico
AU - Giordano, Paolo Robuffo
AU - Chinello, Francesco
AU - Pacchierotti, Claudio
N1 - Publisher Copyright:
IEEE
PY - 2024/4/1
Y1 - 2024/4/1
N2 - This article presents a 4-degrees-of-freedom (4-DoF) hand wearable haptic device for Virtual Reality (VR). It is designed to support different end-effectors, that can be easily exchanged so as to provide a wide range of haptic sensations. The device is composed of a static upper body, secured to the back of the hand, and the (changeable) end-effector, placed in contact with the palm. The two parts of the device are connected by two articulated arms, actuated by four servo motors housed on the upper body and along the arms. The article summarizes the design and kinematics of the wearable haptic device and presents a position control scheme able to actuate a broad range of end-effectors. As a proof of concept, we present and evaluate three representative end-effectors during interactions in VR, rendering the sensation of interacting (E1) with rigid slanted surfaces and sharp edges having different orientations, (E2) with curved surfaces having different curvatures, and (E3) with soft surfaces having different stiffness characteristics. A few additional end-effector designs are discussed. A human-subjects evaluation in immersive VR shows the broad applicability of the device, able to render rich interactions with a diverse set of virtual objects.
AB - This article presents a 4-degrees-of-freedom (4-DoF) hand wearable haptic device for Virtual Reality (VR). It is designed to support different end-effectors, that can be easily exchanged so as to provide a wide range of haptic sensations. The device is composed of a static upper body, secured to the back of the hand, and the (changeable) end-effector, placed in contact with the palm. The two parts of the device are connected by two articulated arms, actuated by four servo motors housed on the upper body and along the arms. The article summarizes the design and kinematics of the wearable haptic device and presents a position control scheme able to actuate a broad range of end-effectors. As a proof of concept, we present and evaluate three representative end-effectors during interactions in VR, rendering the sensation of interacting (E1) with rigid slanted surfaces and sharp edges having different orientations, (E2) with curved surfaces having different curvatures, and (E3) with soft surfaces having different stiffness characteristics. A few additional end-effector designs are discussed. A human-subjects evaluation in immersive VR shows the broad applicability of the device, able to render rich interactions with a diverse set of virtual objects.
KW - Arms
KW - End effectors
KW - Haptic interfaces
KW - Human-computer interaction
KW - Kinematics
KW - Potentiometers
KW - Rendering (computer graphics)
KW - Servomotors
KW - Virtual Reality
KW - Wearable haptics
KW - human-computer interaction
KW - virtual reality
UR - http://www.scopus.com/inward/record.url?scp=85162712783&partnerID=8YFLogxK
U2 - 10.1109/TOH.2023.3284980
DO - 10.1109/TOH.2023.3284980
M3 - Journal article
C2 - 37307180
AN - SCOPUS:85162712783
SN - 1939-1412
VL - 17
SP - 129
EP - 139
JO - IEEE Transactions on Haptics
JF - IEEE Transactions on Haptics
IS - 2
ER -