A New Force-Feedback Arm Exoskeleton for Haptic Interaction in Virtual Environments

Frisoli, Antonio; Rocchi, Fabrizio; Marcheschi, Simone; Dettori, Andrea; Salsedo, F.; Bergamasco, Massimo

doi:10.1109/whc.2005.15

Cited by 190 publications

(101 citation statements)

References 7 publications

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“…Hand and wrist exoskeletons, for example HWARD [51] and PERCRO [52] can be used to monitor, and impose movement at the individual joint level; however, they are complex and expensive and consequently not suitable for use in home therapy. Smaller exoskeleton systems include the Cyberglove [53], but these remain expensive for individual purchase.…”

Section: Kinaesthetic Haptic Rehabilitationmentioning

confidence: 99%

A narrative review on haptic devices: relating the physiology and psychophysical properties of the hand to devices for rehabilitation in central nervous system disorders

Demain

Metcalf

Merrett

et al. 2012

Disability and Rehabilitation: Assistive Technology

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 The current lack of emphasis on somatosensory rehabilitation may contribute to poor hand recovery in patients with central nervous system pathology.  Haptic technologies have the potential to improve sensation and sensory motor integration in neurological conditions  An underlying theoretical rationale is provided for the design and clinical use of haptic technologies in neuro-rehabilitation of the hand. AbstractPurpose. This paper provides rehabilitation professionals and engineers with a theoretical and pragmatic rationale for the inclusion of haptic feedback in the rehabilitation of central nervous system disorders affecting the hand. Method. A narrative review of haptic devices used in sensorimotor hand rehabilitation was undertaken. Presented papers were selected to outline and clarify the underlying somatosensory mechanisms underpinning these technologies and provide exemplars of the evidence to date.Results. Haptic devices provide kinaesthetic and/or tactile stimulation. Kinaesthetic haptics are beginning to be incorporated in central nervous system rehabilitation, however, there has been limited development of tactile haptics. Clinical research in haptic rehabilitation of the hand is embryonic but initial findings indicate potential clinical benefit. Conclusions. Haptic rehabilitation offers the potential to advance sensorimotor hand rehabilitation but both scientific and pragmatic developments are needed to ensure that its potential is realised.

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Section: Kinaesthetic Haptic Rehabilitationmentioning

confidence: 99%

A narrative review on haptic devices: relating the physiology and psychophysical properties of the hand to devices for rehabilitation in central nervous system disorders

Demain

Metcalf

Merrett

et al. 2012

Disability and Rehabilitation: Assistive Technology

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“…It uses DC motors with a cable transmission system for actuation. The authors of PERCRO have developed arm exoskeletons for haptic interaction with virtual environments L-Exos [3,4]. This is a five-DoF exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of a human arm.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, the use of exoskeletons as Haptic device significantly increased due to the development of applications related to interaction in virtual environments [2,3,4]. Haptic or force-reflecting interfaces are devices used to display touch or force-related sensory information from a virtual or remote environment to the user [2].…”

Section: Introductionmentioning

confidence: 99%

Simulations and experimental evaluation of an active orthosis for interaction in virtual environments

et al. 2018

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Abstract. In this work, the development of a human arm active orthosis is presented. The orthosis is designed primarily for training and rehabilitation in virtual environments.The orthosis system is intended for embodiment in virtual reality where it is allowing human to perceive forces at different body parts or the weight of lifted objects. In the paper the choice of a mechanical structure is shown equivalent to the structure of the human arm. A mechanical model of the orthosis arm as haptic device is built, where kinematic and dynamic parameters are evaluated. Impedance control scheme is selected as the most suitable for force refection at the hand or arm. An open-loop impedance controller is presented in the paper. Computer experiments are carried out using the dimensions of a real arm orthosis. Computer experiments have been carried out to provide force reflection by VR, according to virtual scenario. The conducted simulations show the range of the forces on the operator hand, orthosis can provide. The results of additional measurements and experimental evaluations of physical quantities in the interaction in a virtual environment are revealed in the paper.

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“…It is a wearable device with two motors for force feedback at fingerpad contact point. The main difference of this kind of device with respect to the more sophisticated and involved exoskeletons [7] is that the kinesthetic feedback is practically missed and the force feedback is mainly tactile [8]. The other disadvantage is that the sensing part of the human hand or arm is poor.…”

Section: Introductionmentioning

confidence: 99%

Using Kinect for hand tracking and rendering in wearable haptics

Frati

Prattichizzo

2011

2011 IEEE World Haptics Conference

158

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Wearable haptic devices with poor position sensing are combined with the Kinect depth sensor by Microsoft. A heuristic hand tracker has been developed. It allows for the animation of the hand avatar in the virtual reality and the implementation of the force rendering algorithm: the position of the fingertips is measured by the hand tracker designed and optimized for Kinect, and the rendering algorithm computes the contact forces for wearable haptic display. Preliminary experiments with qualitative results show the effectiveness of the idea of combining Kinect and wearable haptics.

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A New Force-Feedback Arm Exoskeleton for Haptic Interaction in Virtual Environments

Cited by 190 publications

References 7 publications

A narrative review on haptic devices: relating the physiology and psychophysical properties of the hand to devices for rehabilitation in central nervous system disorders

A narrative review on haptic devices: relating the physiology and psychophysical properties of the hand to devices for rehabilitation in central nervous system disorders

Simulations and experimental evaluation of an active orthosis for interaction in virtual environments

Using Kinect for hand tracking and rendering in wearable haptics

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