Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation

Lopez, Javier Alejandro Alvarez; Breñosa, José; Galiana, Ignacio; Ferré, Manuel; Giménez, Antonio; Barrio, Jorge

doi:10.5545/sv-jme.2011.141

Cited by 12 publications

(10 citation statements)

References 46 publications

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“…However, these devices are highly intrusive and complex to handle, leading to cognitive overload, mandatory prior-to-use calibration, and it is not possible to interrupt a current task without losing its current configuration. L opez et al [18] designed a modular multifinger haptic device for object manipulation. However, their device is limited to 3 fingers and is used in a desktop workspace configuration.…”

Section: Previous Workmentioning

confidence: 99%

Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

Léon

Dupeux

Chardonnet

et al. 2016

Journal of Computing and Information Science in Engineering

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International audienceThe simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force feedback on the fingers can be provided by a hand exoskeleton, but such a device is very complex, invasive, and costly. In this paper, we present a new device, called HaptiHand, which provides position and force input as well as haptic output for four fingers in a noninvasive way, and is mounted on a standard force-feedback arm. The device incorporates four independent modules, one for each finger, inside an ergonomic shape, allowing the user to generate a wide range of virtual hand configurations to grasp naturally an object. It is also possible to reconfigure the virtual finger positions when holding an object. The paper explains how the device is used to control a virtual hand in order to perform dexterous grasping operations. The structure of the HaptiHand is described through the major technical solutions required and tests of key functions serve as validation process for some key requirements. Also, an effective grasping task illustrates some capabilities of the HaptiHand

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Section: Previous Workmentioning

confidence: 99%

Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

Léon

Dupeux

Chardonnet

et al. 2016

Journal of Computing and Information Science in Engineering

View full text Add to dashboard Cite

show abstract

“…However, these devices are highly intrusive and complex to handle, leading to cognitive overload, needs mandatory priorto-use calibration, and it is not possible to interrupt a current task without losing its current configuration. López et al [18] designed a modular multi-finger haptic device for object manipulation. However, their device is limited to 3 fingers and is used in a desktop workspace configuration.…”

Section: Prior Workmentioning

confidence: 99%

An Add-On Device to Perform Dexterous Grasping Tasks With a Haptic Feedback System

Léon

Dupeux

Chardonnet

et al. 2015

Volume 1B: 35th Computers and Information in Engineering Conference

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Achieving grasping tasks in real time with haptic feedback may require the control of a large number of degrees of freedom (DOFs) to model hand and finger movements. This is mandatory to grasp objects with dexterity. Here, a new device called HaptiHand is proposed that can be added to a haptic feedback arm and provide the user with enough DOFs so that he/she can intuitively and dexterously grasp an object, modify the virtual hand configuration and number of fingers with respect to the object while manipulating the object. Furthermore, this device is non-invasive and enables the user to apply forces on the fingers of the virtual hand. The HaptiHand lies inside the user’s hand so that the user can apply and release pressure on it in a natural manner that is transferred to the virtual hand using metaphors. The focus is placed on the description of the technology and structure of the HaptiHand to justify the choices and explain the behavior of the HaptiHand during object grasping and releasing tasks. This is combined with a short description of the models used.

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“…This kind of legged robots is a very useful alternative to the traditional robots moving on wheels or tracks [7][8][9]. The main reason for this advantage is that rovers became inefficient when ground conditions (e.g.…”

Section: Introductionmentioning

confidence: 99%

Simulation of the Hexapod Robot PTinto Walking on Irregular Surfaces

Muñoz¹,

Castaño²,

R-Moreno³

2015

Int. j. simul. model.

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In this article we present our recent work on the simulation of a hexapod robot called PTinto. This robot is a prototype that has been designed to test the six legs locomotion system in the surrounding areas of the Tinto River (Huelva-Spain), which scientists have considered that could potentially have many similarities to the Mars surface. This kind of robots represents a great advance in the planetary research that overcomes the performance of the usual rover when operating in rocky and cumbersome areas. We are developing some of the software PTinto requires to autonomously control it and, in particular, the program that simulates its movements on any surface. Up to now we have a graphic computer program, developed in MATLAB, that represents the robot and allow us to check its movements in a lot of detail. We present in this paper all the elements and resources we use for the simulation and control of PTinto walking on irregular surfaces. Thanks to this simulation program, we could test different autonomous control strategies for the PTinto robot.

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Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation

Cited by 12 publications

References 46 publications

Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

Dexterous Grasping Tasks Generated With an Add-on End Effector of a Haptic Feedback System

An Add-On Device to Perform Dexterous Grasping Tasks With a Haptic Feedback System

Simulation of the Hexapod Robot PTinto Walking on Irregular Surfaces

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