Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation

Tzafestas, Costas S.

doi:10.1109/tsmca.2003.812600

Cited by 50 publications

(23 citation statements)

References 38 publications

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“…Another hand exoskeleton developed for haptic feedback is the LRP Hand Master. It is capable of supporting 14 bidirectional and actuated degrees of freedom (Tzafestas, 2003).…”

Section: Vr/ar-hapticmentioning

confidence: 99%

Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Schnieders

Stone

2017

International Journal of Robotics Applications and Technologies

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This literature review of exoskeleton design provides a brief history of exoskeleton development, discusses current research of exoskeletons with respect to the innate human-machine interface, and the incorporation of exoskeletons for ergonomic intervention, and offers a review of needed future work. Development of assistive exoskeletons began in the 1960's but older designs lacked design for human factors and ergonomics and had low power energy density and power to weight ratios. Advancements in technology have spurred a broad spectrum of research aimed at enhancing human performance and assisting in rehabilitation. The review underwent a holistic and extensive search and provides a reflective snapshot of the state of the art in exoskeleton design as it pertains to the incorporation of exoskeletons for ergonomic intervention. Some of the remaining challenges include improving the energy density of exoskeleton power supplies, improving the power to weight ratio of actuation devices, improving the mechanical human-machine interface, and dealing with variability between users. Disciplines Industrial Engineering | Systems Engineering CommentsThis article is published as Schnieders, Thomas Michael, and Richard T. ABSTRACTThis literature review of exoskeleton design provides a brief history of exoskeleton development, discusses current research of exoskeletons with respect to the innate human-machine interface, and the incorporation of exoskeletons for ergonomic intervention, and offers a review of needed future work. Development of assistive exoskeletons began in the 1960's but older designs lacked design for human factors and ergonomics and had low power energy density and power to weight ratios. Advancements in technology have spurred a broad spectrum of research aimed at enhancing human performance and assisting in rehabilitation. The review underwent a holistic and extensive search and provides a reflective snapshot of the state of the art in exoskeleton design as it pertains to the incorporation of exoskeletons for ergonomic intervention. Some of the remaining challenges include improving the energy density of exoskeleton power supplies, improving the power to weight ratio of actuation devices, improving the mechanical human-machine interface, and dealing with variability between users.

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“…Another hand exoskeleton developed for haptic feedback is the LRP Hand Master. It is capable of supporting 14 bidirectional and actuated degrees of freedom (Tzafestas, 2003).…”

Section: Vr/ar-hapticmentioning

confidence: 99%

Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Schnieders

Stone

2017

International Journal of Robotics Applications and Technologies

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“…When is a power of a prime, , the Galois field elements are expressed as the first 1 powers of some primitive element, labeled here by the letter " " GF (2) as illustrated in Table I [8]. A PRA can be obtained by properly folding, as shown in Fig.…”

Section: A Pseudorandom Arraysmentioning

confidence: 99%

“…OBOTIC tactile sensing systems for object recognition essentially emulate biological haptic perception mechanisms, [1], [2]. Pattern recognition is a more complicated task in the case of tactile perception than in visual perception, as there are a number of difficult-to-control factors affecting the quality of tactile images such as complex strain-stress relationship in the elastic overlay, amount of force, and contact angle during the tactile perception process.…”

mentioning

confidence: 99%

Robotic Tactile Recognition of Pseudorandom Encoded Objects

Petriu

Yeung

Das

et al. 2004

IEEE Trans. Instrum. Meas.

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Abstract-This paper discusses an original model-based method for blind robotic tactile recognition of three-dimensional objects. Conveniently shaped geometric symbols representing terms of a pseudorandom array (PRA) are embossed on object surfaces. Symbols recovered by tactile probing are recognized using a neural network and then clustered in a PRA window that contains enough information to fully identify the absolute coordinates of the recovered window within the encoding PRA. By knowing how different object models were mapped to the PRA, it is possible to unambiguously identify the object face and the exact position of the recovered symbols on the face.Index Terms-Object recognition, pseudorandom arrays, tactile system, three-dimensional object model.

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“…Interaction with data gloves can be further enhanced by using a haptic interface which provides active force feedback to the user in addition to the visual feedback provided by the virtual reality application. Wholehand haptic systems must offer a high level of mobility of the fingers and haptic feedback in different areas of the hand (Tzafestas, 2003). Several haptic devices have been proposed for multi-fingered interaction in VEs.…”

Section: Introductionmentioning

confidence: 99%

Multi-Fingered Grasping and Manipulation in Virtual Environments Using an Isometric Finger Device

Kurillo

Mihelj

Munih³

et al. 2007

Presence: Teleoperators and Virtual Environments

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In this article we present a new isometric input device for multi-fingered grasping in virtual environments. The device was designed to simultaneously assess forces applied by the thumb, index, and middle finger. A mathematical model of grasping, adopted from the analysis of multi-fingered robot hands, was applied to achieve multi-fingered interaction with virtual objects. We used the concept of visual haptic feedback where the user was presented with visual cues to acquire haptic information from the virtual environment. The virtual object corresponded dynamically to the forces and torques applied by the three fingers. The application of the isometric finger device for multi-fingered interaction is demonstrated in four tasks aimed at the rehabilitation of hand function in stroke patients. The tasks include opening the combination lock on a safe, filling and pouring water from a glass, muscle strength training with an elastic torus, and a force tracking task. The training tasks were designed to train patients' grip force coordination and increase muscle strength through repetitive exercises. The presented virtual reality system was evaluated in a group of healthy subjects and two post-stroke patients (early post-stroke and chronic) to obtain overall performance results. The healthy subjects demonstrated consistent performance with the finger device after the first few trials. The two post-stroke patients completed all four tasks, however, with much lower performance scores as compared to healthy subjects. The results of the preliminary assessment suggest that the patients could further improve their performance through virtual reality training.

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Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation

Cited by 50 publications

References 38 publications

Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons

Robotic Tactile Recognition of Pseudorandom Encoded Objects

Multi-Fingered Grasping and Manipulation in Virtual Environments Using an Isometric Finger Device

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