Abstract
A compact and light-weight wearable haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system is presented in this paper. The proposed system uses two actuators with small size DC motors and an integrated force sensor based on optoelectronic components. ExoTen-Glove can provide force feedback to the thumb on one side, and to the other fingers grouped together on the other side. This configuration has been selected to provide the user force feedback during the execution of grasping tasks by means of a virtual reality environment to feel the stiffness of different objects. Thus for the first evaluation of the ExoTen-Glove, we only focus on the feedback from thumb and index finger. The paper reports the design of the haptic glove, the description of the actuation system, the embedded controller, and the preliminary experimental evaluation of the device. The ExoTen-Glove has been evaluated by means of a simple experiment in virtual environment with 2-DOF grasping activities of rigid and compliant virtual object (spring) using thumb and index finger to show the applicability of the system for rehabilitation and haptic feedback purposes. Results of the experiments showed that the haptic ExoTen-Glove improved stiffness evaluation significantly for the high and low spring stiffness and users were able to distinguish virtual spring stiffness differences easily with high accuracy.
Original language | English |
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Title of host publication | Haptics |
Subtitle of host publication | Science, Technology, and Applications - 11th International Conference, EuroHaptics 2018, Proceedings |
Editors | D. Prattichizzo, H. Shinoda, H.Z. Tan, E. Ruffaldi |
Place of Publication | Berlin |
Publisher | Springer |
Pages | 612-622 |
Number of pages | 11 |
Volume | 2 |
ISBN (Print) | 9783319933986 |
DOIs | |
Publication status | Published - 1 Jan 2018 |
Event | 11th International Conference on Haptics: Science, Technology, and Applications EuroHaptics 2018 - Pisa, Italy Duration: 13 Jun 2018 → 16 Jun 2018 Conference number: 11 https://eurohaptics2018.eurohaptics.org/ |
Publication series
Name | Lecture Notes in Computer Science |
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Volume | 10894 |
ISSN (Print) | 0302-9743 |
ISSN (Electronic) | 1611-3349 |
Conference
Conference | 11th International Conference on Haptics: Science, Technology, and Applications EuroHaptics 2018 |
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Abbreviated title | EuroHaptics 2018 |
Country/Territory | Italy |
City | Pisa |
Period | 13/06/18 → 16/06/18 |
Internet address |
Keywords
- Force feedback
- Stiffness discrimination
- Tendon transmission system
- Twisted String Actuation system
- Virtual reality
- Wearable