Arm-Wrist Haptic Sleeve for Drone Teleoperation

Ramachandran, Vivek; Macchini, Matteo; Floreano, Dario

doi:10.1109/lra.2021.3122107

Cited by 6 publications

(5 citation statements)

References 23 publications

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“…For the shirt, we selected the clearly highest performing garment, which was from P2, while for the sleeve, we selected the design from P1. This sleeve design represents a common (line) design seen in literature [11,32,33], while having similar performance as other designs.…”

Section: Physical Validationmentioning

confidence: 86%

“…More recently, several wearable body kinesthetic feedback systems have been developed, mostly based on electromagnetic motors [9,39] with rods [5,37] or cables [4,13] transmission, and based on pneumatic actuators [11,15] which are soft and more comfortable at the detriment of a bulkier equipment (pumps, compressors, valves). An alternative way to provide body kinesthetic feedback are passive blocking mechanisms like vacuum jamming [10] (still requiring pumps) and ES clutches [12,17,33,34]. In particular, ES clutches offer the advantages of being ultra-thin, light, and soft enabling the design of compliant kinesthetic garment designs.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Computational Design of Active Kinesthetic Garments

Vechev

Hinchet

Coros³

et al. 2022

Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology

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Figure 1: Our pipeline for designing active kinesthetic garments. Given a set of motions (a) and a compliant garment with electrostatic clutches (light green) (b), our method automatically generates efficient connecting structures (c), that offer strong resistance to input motions when clutches are active while minimizing interference otherwise. Once fabricated, our designs can provide force-feedback on-demand in various applications such as a VR training scenarios (d).

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Section: Physical Validationmentioning

confidence: 86%

Section: Related Workmentioning

confidence: 99%

Computational Design of Active Kinesthetic Garments

Vechev

Hinchet

Coros³

et al. 2022

Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology

View full text Add to dashboard Cite

show abstract

“…Kinesthetic feedback garments based on ESclutches, like haptic gloves [21,22] and sleeves, [34,40] highlight ESclutch integration challenges. How to scale, place, guide, attach, and connect ESclutches on soft and curved garments?…”

Section: Challenges Of Esclutchesmentioning

confidence: 99%

Glove‐ and Sleeve‐Format Variable‐Friction Electrostatic Clutches for Kinesthetic Haptics

Hinchet

Shea

2022

Advanced Intelligent Systems

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Clothing with integrated high‐force actuators enables wearable haptics for immersive virtual reality (VR) and enables soft exoskeletons for rehabilitation or human augmentation. Electrostatic clutches (ESClutches) offer a very‐low‐energy solution to block motion and are mm thin. Challenges for ESClutches in wearables are 1) effective integration in clothing to accurately block body motion while ensuring comfort, 2) well‐controlled sliding for variable stiffness rendering, and 3) adaptation to shoulder or hip joints. Here, the control of sliding friction of soft ESClutches is demonstrated, using materials that enable both integration in textile and efficient force transfer to the user. We present a 1.3 mm‐thick soft glove with five ESClutches, providing up to 50 N of kinesthetic feedback per finger. A clutch in a thin haptic sleeve that controls elbow extension is reported. Eight cable‐format ESClutches on a shoulder are shown, selectively blocking multiple degrees of freedom. VR tests demonstrate that the glove and the sleeve give the user the ability to rank the softness and weight of virtual objects. In a teleoperation scenario, the glove enables the user to remotely feel an object's stiffness. The ESClutches and textile integration pave a path toward socially acceptable and comfortable kinesthetic haptics.

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“…Gestural interaction is also a common input modality achieved via sensing the user’s body input, to control external devices or events (see Figure 9C ), such as drones ( La Delfa et al, 2020 ), video games ( Tang et al, 2011 ), in-vehicle controls ( Young et al, 2020 ), multimedia ( Vo et al, 2014 ) among others. Some of these wearable devices can even provide haptic feedback on the skin as outcome confirmation ( Prattichizzo et al, 2013 ; Ramachandran et al, 2021 ). Indeed, gestural input has been shown to provide a SoA even though it does not have the typical characteristics of physical interaction (e.g., pressing a button) ( Cornelio et al, 2017 ).…”

Section: Our Approachmentioning

confidence: 99%

The sense of agency in emerging technologies for human–computer integration: A review

et al. 2022

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Human–computer integration is an emerging area in which the boundary between humans and technology is blurred as users and computers work collaboratively and share agency to execute tasks. The sense of agency (SoA) is an experience that arises by a combination of a voluntary motor action and sensory evidence whether the corresponding body movements have somehow influenced the course of external events. The SoA is not only a key part of our experiences in daily life but also in our interaction with technology as it gives us the feeling of “I did that” as opposed to “the system did that,” thus supporting a feeling of being in control. This feeling becomes critical with human–computer integration, wherein emerging technology directly influences people’s body, their actions, and the resulting outcomes. In this review, we analyse and classify current integration technologies based on what we currently know about agency in the literature, and propose a distinction between body augmentation, action augmentation, and outcome augmentation. For each category, we describe agency considerations and markers of differentiation that illustrate a relationship between assistance level (low, high), agency delegation (human, technology), and integration type (fusion, symbiosis). We conclude with a reflection on the opportunities and challenges of integrating humans with computers, and finalise with an expanded definition of human–computer integration including agency aspects which we consider to be particularly relevant. The aim this review is to provide researchers and practitioners with guidelines to situate their work within the integration research agenda and consider the implications of any technologies on SoA, and thus overall user experience when designing future technology.

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Arm-Wrist Haptic Sleeve for Drone Teleoperation

Cited by 6 publications

References 23 publications

Computational Design of Active Kinesthetic Garments

Computational Design of Active Kinesthetic Garments

Glove‐ and Sleeve‐Format Variable‐Friction Electrostatic Clutches for Kinesthetic Haptics

The sense of agency in emerging technologies for human–computer integration: A review

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