A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality

Mohssen Hosseini; Yudha Pane; Ali Sengül; Joris De Schutter; Herman Bruyninckx

doi:10.1007/978-3-319-93399-3_52

A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality

Mohssen Hosseini, Yudha Pane, Ali Sengül, Joris De Schutter, Herman Bruyninckx

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

3 Downloads (Pure)

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
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	https://doi.org/10.1007/978-3-319-93399-3_52
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.org/

Publication series

Name	Lecture Notes in Computer Science
Volume	10894
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	11th International Conference on Haptics: Science, Technology, and Applications (EuroHaptics 2018)
Abbreviated title	EuroHaptics 2018
Country/Territory	Italy
City	Pisa
Period	13/06/18 → 16/06/18
Internet address	https://eurohaptics2018.org/

Keywords

Force feedback
Stiffness discrimination
Tendon transmission system
Twisted String Actuation system
Virtual reality
Wearable

Access to Document

10.1007/978-3-319-93399-3_52

Cite this

Hosseini, M., Pane, Y., Sengül, A., De Schutter, J., & Bruyninckx, H. (2018). A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality. In D. Prattichizzo, H. Shinoda, H. Z. Tan, & E. Ruffaldi (Eds.), Haptics: Science, Technology, and Applications - 11th International Conference, EuroHaptics 2018, Proceedings (Vol. 2, pp. 612-622). (Lecture Notes in Computer Science; Vol. 10894). Springer. https://doi.org/10.1007/978-3-319-93399-3_52

Hosseini, Mohssen ; Pane, Yudha ; Sengül, Ali ; De Schutter, Joris ; Bruyninckx, Herman. / A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality. Haptics: Science, Technology, and Applications - 11th International Conference, EuroHaptics 2018, Proceedings. editor / D. Prattichizzo ; H. Shinoda ; H.Z. Tan ; E. Ruffaldi. Vol. 2 Berlin : Springer, 2018. pp. 612-622 (Lecture Notes in Computer Science).

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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.",

keywords = "Force feedback, Stiffness discrimination, Tendon transmission system, Twisted String Actuation system, Virtual reality, Wearable",

author = "Mohssen Hosseini and Yudha Pane and Ali Seng{\"u}l and {De Schutter}, Joris and Herman Bruyninckx",

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Hosseini, M, Pane, Y, Sengül, A, De Schutter, J & Bruyninckx, H 2018, A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality. in D Prattichizzo, H Shinoda, HZ Tan & E Ruffaldi (eds), Haptics: Science, Technology, and Applications - 11th International Conference, EuroHaptics 2018, Proceedings. vol. 2, Lecture Notes in Computer Science, vol. 10894, Springer, Berlin, pp. 612-622, 11th International Conference on Haptics: Science, Technology, and Applications (EuroHaptics 2018), Pisa, Italy, 13/06/18. https://doi.org/10.1007/978-3-319-93399-3_52

A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality. / Hosseini, Mohssen; Pane, Yudha; Sengül, Ali; De Schutter, Joris; Bruyninckx, Herman.

Haptics: Science, Technology, and Applications - 11th International Conference, EuroHaptics 2018, Proceedings. ed. / D. Prattichizzo; H. Shinoda; H.Z. Tan; E. Ruffaldi. Vol. 2 Berlin : Springer, 2018. p. 612-622 (Lecture Notes in Computer Science; Vol. 10894).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Pane, Yudha

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AB - 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.

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KW - Stiffness discrimination

KW - Tendon transmission system

KW - Twisted String Actuation system

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Hosseini M, Pane Y, Sengül A, De Schutter J, Bruyninckx H. A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality. In Prattichizzo D, Shinoda H, Tan HZ, Ruffaldi E, editors, Haptics: Science, Technology, and Applications - 11th International Conference, EuroHaptics 2018, Proceedings. Vol. 2. Berlin: Springer. 2018. p. 612-622. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-319-93399-3_52

A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality

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