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 | |
| 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 | Italy |
| City | Pisa |
| Period | 13/06/18 → 16/06/18 |
| Internet address |
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Keywords
- Force feedback
- Stiffness discrimination
- Tendon transmission system
- Twisted String Actuation system
- Virtual reality
- Wearable
Cite this
}
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
TY - GEN
T1 - A novel haptic glove (ExoTen-Glove) based on Twisted String Actuation (TSA) system for virtual reality
AU - Hosseini, Mohssen
AU - Pane, Yudha
AU - Sengül, Ali
AU - De Schutter, Joris
AU - Bruyninckx, Herman
PY - 2018/1/1
Y1 - 2018/1/1
N2 - 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.
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.
KW - Force feedback
KW - Stiffness discrimination
KW - Tendon transmission system
KW - Twisted String Actuation system
KW - Virtual reality
KW - Wearable
UR - http://www.scopus.com/inward/record.url?scp=85048673857&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-93399-3_52
DO - 10.1007/978-3-319-93399-3_52
M3 - Conference contribution
AN - SCOPUS:85048673857
SN - 9783319933986
VL - 2
T3 - Lecture Notes in Computer Science
SP - 612
EP - 622
BT - Haptics
A2 - Prattichizzo, D.
A2 - Shinoda, H.
A2 - Tan, H.Z.
A2 - Ruffaldi, E.
PB - Springer
CY - Berlin
ER -