A novel approach for two fingers grasping devices with cutaneous and kinesthetic force feedback
نویسندگان
چکیده
Two finger grasping devices are presented and used in different simulations, testing various kind of feedback: no tactile feedback, only kinesthetic feedback, only tactile feedback and both kinesthetic and tactile feedback. The kinesthetic feedback is provided by commercial haptic interfaces, while the cutaneous one is provided by two new haptic displays able to apply a wide range of contact forces on the index finger and on the thumb. The device consists of a mobile surface, which interacts with the fingertip, actuated by three wires directly connected to the motors placed on the grounded structure of the interface. Through two different experiments of “peg-in-hole”, one real and one virtual, it has been possible to demonstrate that cutaneous feedback exhibits improved performances when compared to visual feedback only. Using new devices is not possible to have typical stability issues in teleoperation systems even if a tactile feedback is perceived by a user.
منابع مشابه
Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback
This paper presents an experiment of two finger grasping. The task considered is the peg-in-hole and the simulated force feedback is cutaneous or kinesthetic. The kinesthetic feedback is provided by a commercial haptic device while the cutaneous one is provided by a new haptic display proposed in this work, which allows to render at the fingertip a wide range of contact forces. The device consi...
متن کاملSensory subtraction via cutaneous feedback: a novel technique to improve the transparency of robotic surgery
In this paper we present a novel technique to force feedback in robot-assisted surgery. It consists of substituting haptic force, composed by kinesthetic and cutaneous components, with cutaneous stimuli only. The force generated can be thus thought as a subtraction between the complete haptic interaction, cutaneous and kinesthetic, and the kinesthetic part of it. For this reason, we refer to th...
متن کاملThe effects of digital anesthesia on force control using a precision grip.
A total of 20 right-handed subjects were asked to perform a grasp-lift-and-hold task using a precision grip. The grasped object was a one-degree-of-freedom manipuladum consisting of a vertically mounted linear motor capable of generating resistive forces to simulate a range of object weights. In the initial study, seven subjects (6 women, 1 man; ages 24-56 yr) were first asked to lift and hold ...
متن کاملSensory subtraction via cutaneous feedback in robot-assisted surgery
This paper presents a novel approach to force feedback in robot-assisted surgery. Haptic stimuli, consisting of kinesthetic and cutaneous components, are substituted with cutaneous feedback only. This new approach to sensory substitution is called sensory subtraction, as it subtracts the destabilizing kinesthetic part of the haptic interaction to leave only cutaneous cues. In order to evaluate ...
متن کاملInvestigation of methods for constructing gloves with tactile and force feedback for virtual reality and telecontrol of anthropomorphic manipulators
Aims. Devices that allow using the functionality of natural hand movements are of the greatest interest. The purpose of this study is to select areas of research at the intersection of several fields of science – biomechanics and cybernetics to develop scientific and technical approaches to track the movements of the operator's fingers and form feedback tactile and force communication received ...
متن کامل