Implementation of a 6-DOF Parallel Continuum Manipulator for Delivering Fingertip Tactile Cues

Young, Eric M.; Kuchenbecker, Katherine J.

doi:10.1109/toh.2019.2920928

Cited by 33 publications

(12 citation statements)

References 19 publications

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“…[11] This implies that effective renderings of softness cannot be obtained using the variety of wearable tactile displays that indent fingertips via stiff surfaces, which are however very useful for force feedback, especially to render shapes. [12][13][14][15][16][17] Indeed, as discussed by Srinivasan and LaMotte, when a fingertip is interfaced to a rigid surface, the pressure distribution over the fingertip and the related deformation of the skin (and therefore also the contact area) are independent of the interface's compliance; this means that the arising tactile stimuli do not adequately encode information on compliance. [6] Such evidence implies that, in order to mimic the softness of a virtual object with fingertip-mounted devices, the most effective approach is to use tactile displays that can generate quasistatic (non-vibratory) forces, via a soft interface (deformable surface), so as to control both the contact area and the indentation depth.…”

Section: A Soft Touch: Wearable Tactile Display Of Softness Made Of E...mentioning

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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Section: A Soft Touch: Wearable Tactile Display Of Softness Made Of E...mentioning

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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“…PCR consist of flexible limbs linked in parallel to a rigid mobile platform. They have some similarities with parallel soft robots introduced previously by Duriez [2], even though they embed some rigid elements to acquire properties suitable in some applications such as medical robotics [3], haptic interfacing [4], collaborative robotics [5] and precision positioning [6]. Studies about classical robotic structures, like the Gough-Stewart platform, using elastic elements instead of conventional joints is a rising trend.…”

Section: Introductionmentioning

confidence: 99%

“…For instance in [7], Black et al used a Gough-Stewart-like platform for which they developed the forward kinematic model, performed a kinetostatic analysis of the structure and analyzed the pros and cons of PCR. Young and Kuchenbecker [4] used the same 6-degrees-of-freedom (DoF) structure for a fingertip haptic interface. Till et al demonstrated the possibility of modeling and controlling the robot in quasi-static [8] and dynamic [9] modes using Cosserat rod models.…”

Section: Introductionmentioning

confidence: 99%

Turning an Articulated 3-PPSR Manipulator into a Parallel Continuum Robot

Gallardo

Mauzé

Dahmouche

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…1). A recent study showed that the size of the user's finger influenced their ability to accurately perceive haptic cues rendered the same way for everyone [18]. In another work on tactile rendering for the fingertip, Pacchierotti et al [11] hypothesized that recalibrating their algorithm for different fingertip sizes would improve the quality of the rendering across individuals.…”

Section: Introductionmentioning

confidence: 99%

Compensating for Fingertip Size to Render Tactile Cues More Accurately

Young

Gueorguiev

Kuchenbecker

et al. 2020

IEEE Trans. Haptics

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Fingertip haptic feedback offers advantages in many applications, including robotic teleoperation, gaming, and training. However, fingertip size and shape vary significantly across humans, making it difficult to design fingertip interfaces and rendering techniques suitable for everyone. This paper starts with an existing data-driven haptic rendering algorithm that ignores fingertip size, and it then develops two software-based approaches to personalize this algorithm for fingertips of different sizes using either additional data or geometry. We evaluate our algorithms in the rendering of pre-recorded tactile sensations onto rubber casts of six different fingertips as well as onto the real fingertips of 13 human participants. Results on the casts show that both approaches significantly improve performance, reducing force error magnitudes by an average of 78% with respect to the standard non-personalized rendering technique. Congruent results were obtained for real fingertips, with subjects rating each of the two personalized rendering techniques significantly better than the standard non-personalized method.

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Implementation of a 6-DOF Parallel Continuum Manipulator for Delivering Fingertip Tactile Cues

Cited by 33 publications

References 19 publications

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

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

Turning an Articulated 3-PPSR Manipulator into a Parallel Continuum Robot

Compensating for Fingertip Size to Render Tactile Cues More Accurately

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