Unimanual and bimanual weight perception of virtual objects with a new multi-finger haptic interface

Abstract

ARTICLE INFO ABSTRACT Keywords: Haptics Weight perception Haptic interfacesPsychophysics Accurate weight perception is important particularly in tasks where the user has to apply vertical torces to ensure safe landing of a fragüe object or precise penetration of a surface with a probé. Moreover, depending on physical properties of objects such as weight and size we may switch between unimanual and bimanual manipulation during a task. Research has shown that bimanual manipulation of real objects results in a misperception of their weight: they tend to feel lighter than similarly heavy objects which are handled with one hand only [8]. Effective simulation of bimanual manipulation with desktop haptic interfaces should be able to replícate this effect of bimanual manipulation on weight perception. Here, we present the MasterFinger-2, a new multi-finger haptic interface allowing bimanual manipulation of virtual objects with precisión grip and we conduct weight discrimination experiments to evalúate its capacity to simúlate unimanual and bimanual weight. We found that the bimanual 'lighter' bias is also observed with the MasterFinger-2 but the sensitivity to changes of virtual weights deteriorated.

Compliant multi-fingered passively adaptive robotic gripper

“…Figure 2(a) shows the initial gripper topology and all parameters which were altered. The initial gripper topology was selected according to established gripper models (Kudoh et al, 2009;Giachritsis et al, 2011;Al-Gallaf, 2006;Lim et al, 2000). The FEM simulations were made to determine and verify the design of two target grasping object with concave and convex shape.…”

“…With a minimum of three contact points they offer a greater stability and mobility of the grasp (Harald, 1995;Dechev et al, 2001;Yang et al, 2004). Dexterous, multi-fingered grippers have been the subject of considerable research (Osswald et al, 2004;Arimoto, 2004;Panwar et al, 2012), with the kinematics and force control issues being investigated in Kudoh et al (2009), Giachritsis et al (2011), Al-Gallaf (2006) and Lim et al (2000).…”

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

“…As shown in this section, the design of the single finger module has very low inertia and friction, the device dynamics effects is neglected, and the mechanical architecture is optimized with respect to mainly kinematic performance measures such as device workspace, payload capability, and isotropy. Both, the workspace and performance of the 5-bar mechanism are conditioned by the length of the links [46] and [47]. Link lengths are optimized in accordance with the dextrous workspace and load capabilities required.…”