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

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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.

Original languageEnglish
Title of host publicationHaptics
Subtitle of host publicationScience, Technology, and Applications - 11th International Conference, EuroHaptics 2018, Proceedings
EditorsD. Prattichizzo, H. Shinoda, H.Z. Tan, E. Ruffaldi
Place of PublicationBerlin
PublisherSpringer
Pages612-622
Number of pages11
Volume2
ISBN (Print)9783319933986
DOIs
Publication statusPublished - 1 Jan 2018
Event11th International Conference on Haptics: Science, Technology, and Applications (EuroHaptics 2018) - Pisa, Italy
Duration: 13 Jun 201816 Jun 2018
Conference number: 11
https://eurohaptics2018.org/

Publication series

NameLecture Notes in Computer Science
Volume10894
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference11th International Conference on Haptics: Science, Technology, and Applications (EuroHaptics 2018)
Abbreviated titleEuroHaptics 2018
CountryItaly
CityPisa
Period13/06/1816/06/18
Internet address

Fingerprint

Haptics
Virtual Reality
Virtual reality
Stiffness
Strings
Feedback
Force Feedback
Grasping
Haptic Feedback
Force Sensor
DC Motor
DC motors
Rehabilitation
Evaluation
Optoelectronics
Virtual Environments
Experimental Evaluation
Patient rehabilitation
Optoelectronic devices
Experiment

Keywords

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

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). Berlin: 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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title = "A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality",
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.",
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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 proceedingConference contributionAcademicpeer-review

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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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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