Haptic Interface for Displaying Softness at Multiple Fingers: Combining a Side-Faced-Type Multifingered Haptic Interface Robot and Improved Softness-Display Devices

Endo, Takahiro; Kusakabe, Ayaka; Kazama, Yuta; Kawasaki, Haruhisa

doi:10.1109/tmech.2016.2567453

Cited by 18 publications

(7 citation statements)

References 28 publications

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“…Flexible structures (polymer films or fabrics), as well as soft materials (elastomers), are being explored for soft tactile displays. The former are driven by motors and rely on complex mechanical transmissions for deformation, resulting in intricate, cumbersome, and heavy mechanisms [16,17]. Soft materials (elastomers) are being investigated as a means to overcome this drawback, utilizing three techniques: dielectric elastomer actuators (DEAs) [18][19][20], electrostatic actuators [21], and pneumatic actuators [22,23].…”

Section: Introductionmentioning

confidence: 99%

A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery

Guo,

McFall,

Jiang

et al. 2024

Sensors

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In robot-assisted microsurgery (RAMS), surgeons often face the challenge of operating with minimal feedback, particularly lacking in haptic feedback. However, most traditional desktop haptic devices have restricted operational areas and limited dexterity. This report describes a novel, lightweight, and low-budget wearable haptic controller for teleoperated microsurgical robotic systems. We designed a wearable haptic interface entirely made using off-the-shelf material-PolyJet Photopolymer, fabricated using liquid and solid hybrid 3D co-printing technology. This interface was designed to resemble human soft tissues and can be wrapped around the fingertips, offering direct contact feedback to the operator. We also demonstrated that the device can be easily integrated with our motion tracking system for remote microsurgery. Two motion tracking methods, marker-based and marker-less, were compared in trajectory-tracking experiments at different depths to find the most effective motion tracking method for our RAMS system. The results indicate that within the 4 to 8 cm tracking range, the marker-based method achieved exceptional detection rates. Furthermore, the performance of three fusion algorithms was compared to establish the unscented Kalman filter as the most accurate and reliable. The effectiveness of the wearable haptic controller was evaluated through user studies focusing on the usefulness of haptic feedback. The results revealed that haptic feedback significantly enhances depth perception for operators during teleoperated RAMS.

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Section: Introductionmentioning

confidence: 99%

A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery

Guo,

McFall,

Jiang

et al. 2024

Sensors

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show abstract

“…[25] A different approach uses electrical motors that move flexible/stretchable structures, such as polymer membranes or fabrics, in contact with the fingertip; such mechanisms, however, typically lead to complex, bulky, and heavy displays. [26,27] Another strategy employs electrostatic actuators, consisting of air-filled [28] or liquid-filled [29,30] chambers, sealed by an elastomeric membrane that is displaced by a pressurization of the internal air or liquid; the pressurization is induced by an electrostatic attraction between a fixed rigid electrode and another electrode that covers a flexible or stretchable substrate. [28][29][30] This actuation strategy, which so far has been demonstrated for miniature (up to a few millimeters) tactile interfaces with displacements lower than 1 mm, might be challenged for higher displacements by the need for a larger lateral size, due to the zipping effect required for pressurization.…”

Section: Introductionmentioning

confidence: 99%

“…A different approach uses electrical motors that move flexible/stretchable structures, such as polymer membranes or fabrics, in contact with the fingertip; such mechanisms, however, typically lead to complex, bulky, and heavy displays. [ 26,27 ]…”

Section: Introductionmentioning

confidence: 99%

A Soft Touch: Wearable Tactile Display of Softness Made of Electroactive Elastomers

Frediani

Boys

Ghilardi

et al. 2021

Adv Materials Technologies

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Fingertip‐mounted tactile displays of softness are needed for various virtual‐ or augmented‐reality applications such as surgical simulation, tele‐operation, computer‐aided design, 3D model exploration, and tele‐presence. Displaying a virtual softness on a fingertip requires the generation of quasi‐static large displacements at moderate forces (as opposed to high‐frequency small vibrations at high forces), via a deformable surface, to control both the contact area and the indentation depth of the skin. State‐of‐the‐art actuation technologies are unable to combine simple structure, low weight, and low size, as well as energy efficiency and silent operation. Here, the progress on the development of a non‐vibratory display of softness made of electroactive polymers is reported. It consists of a hydrostatically coupled dielectric elastomer actuator, shaped as a bubble interfaced to the fingertip, having a weight of 6 g. Prototypes can generate displacements up to 3.5 mm and forces up to 1 N. By combining this technology with a compact hand tracking sensor, a simple and cost‐effective virtual‐reality system is demonstrated. A psychophysical study engaging 15 volunteers in poke and pinch tactile tasks shows that users can properly distinguish between different stimuli rendered by the display, with an accuracy correlated to the perceptual difficulty of the tactile comparative task.

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“…Such measurements are closely related to the technique used in tactile presentation [3]. The measurement of the horizontal displacement of skin is related to the development of devices that present horizontal displacement [4,5] and the measurement of the skin contact area has led to the development of devices that can represent a feeling of flexing/flexibility via changing the contact area [6,7].…”

Section: Introductionmentioning

confidence: 99%

Assessment of Stickiness with Pressure Distribution Sensor Using Offset Magnetic Force

et al. 2019

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The quantification of stickiness experienced upon touching a sticky or adhesive substance has attracted intense research attention, particularly for application to haptics, virtual reality, and human–computer interactions. Here, we develop and evaluate a device that quantifies the feeling of stickiness experienced upon touching an adhesive substance. Keeping in mind that a typical pressure distribution sensor can only measure a pressing force, but not a tensile force, in our setup, we apply an offset pressure to a pressure distribution sensor and measure the tensile force generated by an adhesive substance as the difference from the offset pressure. We propose a method of using a magnetic force to generate the offset pressure and develop a measuring device using a magnet that attracts magnetic pin arrays and pin magnets; the feasibility of the method is verified with a first prototype. We develop a second prototype that overcomes the noise problems of the first, arising from the misalignment of the pins owing to the bending of the magnetic force lines at the sensor edges. We also obtain measurement results for actual samples and standard viscosity liquids. Our findings indicate the feasibility of our setup as a suitable device for measuring stickiness.

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Haptic Interface for Displaying Softness at Multiple Fingers: Combining a Side-Faced-Type Multifingered Haptic Interface Robot and Improved Softness-Display Devices

Cited by 18 publications

References 28 publications

A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery

A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery

A Soft Touch: Wearable Tactile Display of Softness Made of Electroactive Elastomers

Assessment of Stickiness with Pressure Distribution Sensor Using Offset Magnetic Force

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