GESTO: A Glove for Enhanced Sensing and Touching Based on Inertial and Magnetic Sensors for Hand Tracking and Cutaneous Feedback

Baldi, Tommaso Lisini; Scheggi, Stefano; Meli, Leonardo; Mohammadi, Mostafa; Prattichizzo, Domenico

doi:10.1109/thms.2017.2720667

Cited by 77 publications

(47 citation statements)

References 43 publications

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“…As far as it concerns the technological aspect, the use of thimble-factor devices guarantees high portability and wearability of the system, it reduces power consumption increasing the battery lifetime. The main novelties that our approach introduces with respect to the currently available solutions can be summarized as follows: i) the hand is directly controlled displaying cues in the most sensitive location [26]; ii) no encumbering devices prevent the user's hand to be free; iii) the hand orientation is suggested independently from other body parts, increasing the haptic guidance capability; iv) human arm singolarities are avoided by charging the inverse kinematics computation to the brain instead of to an algorithm; v) the approach can be combined with any hand tracking system, like camerabased (Vicon, Optitrack, LeapMotion), inertial-based ( [27], [28]) and fabric-based (Cyberglove) devices. In conclusion, we believe that the proposed system paved the way for the development of more complex systems.…”

Section: Discussionmentioning

confidence: 99%

Hand Guidance Using Grasping Metaphor and Wearable Haptics

Baldi

D'Aurizio

Prattichizzo

2020

2020 IEEE Haptics Symposium (HAPTICS)

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In this work, we propose a novel method for hand guidance, combining grasping metaphor and wearable haptics. To guide the hand towards the desired orientation, the system generates vibrations exploiting the grasp theory, asking the user to align the perceived wrench with the gravity. To evaluate the system and demonstrate its potentiality, different vibrotactile feedback approaches have been tested. Both constant and errordepending vibration intensities were considered as feedback methods. Experimental results confirmed the capability of the proposed approach in guiding the hand of the users towards target orientations in a limited time with high accuracy. Users' experience feedback, supported by the statistical analysis of the data, shows that providing information about the actual orientation error is crucial to accomplish the task in minor time.

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Section: Discussionmentioning

confidence: 99%

Hand Guidance Using Grasping Metaphor and Wearable Haptics

Baldi

D'Aurizio

Prattichizzo

2020

2020 IEEE Haptics Symposium (HAPTICS)

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“…The maximum exploitable displacement range for force generation is 6 mm, so that the device can apply a maximum force of 3 N considering a stiffness of 0.5 N/m as elastic behavior of the finger pulp. Interested readers are referred to [6] and [4] for further details on the force feedback generation. A manual calibration is performed for each participant to adjust the initial position of the belt.…”

Section: Force Feedbackmentioning

confidence: 99%

Instrumenting Hand-Held Surgical Drills with a Pneumatic Sensing Cover for Haptic Feedback

Gaudeni

Baldi

Achilli

et al. 2020

Lecture Notes in Computer Science

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Despite the recent achievements in the development of open surgery tools, preserving the haptic capabilities during drilling tasks is still an open issue. In this paper, we propose a novel tool for handheld drills composed of a cover for force sensing and a haptic display for force feedback. A pneumatic device has been developed to estimate the contact force occurring during the interaction between drill bit and bones. A performance comparison with a precise commercial force sensor proved the reliability of the measurements. A haptic ring is in charge of providing cutaneous sensations helping the surgeon in performing the task. The effectiveness of our method has been confirmed by experimental results and supported by statistical analysis.

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“…However, the gimbal mechanisms inevitably increase the volume of the haptic device. Optical measurement systems require a structured environment and are susceptible to noise and shadowing [30].…”

Section: Position and Attitude Tracking Of The Joystickmentioning

confidence: 99%

Development of a Multidirectional Controlled Small-Scale Spherical MR Actuator for Haptic Applications

Chen

Song

Tian

et al. 2019

IEEE/ASME Trans. Mechatron.

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In robotics and haptics, actuators that move at multiple degrees of freedom (DOFs) without the intermediate transmission mechanisms and have high force/torque output with compact size are widely expected to improve the stability and transparency of interactions. For this reason, utilizing the characteristics that the rheological properties of magnetorheological (MR) fluid can be continuously and reversibly changed by an external magnetic field within a few milliseconds, a multidirectional controlled three-DOF spherical MR actuator is proposed in this paper. Through the special design of the stator part, the actuator can implement force feedback control in multiple directions. Then, based on the calculated torque model and analysis of the magnetic circuit, finite-element analysis is used to optimize the geometry and internal magnetic field distribution of the actuator. In order to achieve precise control and positioning of multi-DOF motion, a small inertial measurement unit is integrated in the upper part of the joystick. We built a prototype of this actuator and tested its performance under various control conditions. The results show that the actuator can provide force feedback with reasonable magnitude and direction to users according to the change of interaction conditions, thus overcoming the disadvantage of the existing spherical MR actuators that limit the movement of the user in all directions after being activated.

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GESTO: A Glove for Enhanced Sensing and Touching Based on Inertial and Magnetic Sensors for Hand Tracking and Cutaneous Feedback

Cited by 77 publications

References 43 publications

Hand Guidance Using Grasping Metaphor and Wearable Haptics

Hand Guidance Using Grasping Metaphor and Wearable Haptics

Instrumenting Hand-Held Surgical Drills with a Pneumatic Sensing Cover for Haptic Feedback

Development of a Multidirectional Controlled Small-Scale Spherical MR Actuator for Haptic Applications

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