Docking Haptics: Extending the Reach of Haptics by Dynamic Combinations of Grounded and Worn Devices

Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of docking haptics, in which different types of haptic devices are dynamically docked at run time. This creates a hybrid system, where the potential feedback depends on the user's location. We show a prototype docking haptic workspace, combining a grounded six degree-of-freedom force feedback arm with a hand exoskeleton. We are able to create the sensation of weight on the hand when it is within reach of the grounded device, but away from the grounded device, hand-referenced force feedback is still available. A user study demonstrates that users can successfully discriminate weight when using docking haptics, but not with the exoskeleton alone. Such hybrid systems would be able to change configuration further, for example docking two grounded devices to a hand in order to deliver twice the force, or extend the working volume. We suggest that the docking haptics concept can thus extend the practical utility of haptics in user interfaces

State-of-the-Art of Hand Exoskeleton Systems

This paper deals with the analysis of the state-of-the-art of robotic hand exoskeletons (updated at May 2011), which is intended as the first step of a designing activity. A large number of hand exoskeletons (both products and prototypes) that feature some common characteristics and many special peculiarities are reported in the literature. Indeed, in spite of very similar functionalities, different hand exoskeletons can be extremely different for the characteristics of their mechanism architectures, control systems and working principles. The aim of this paper is to provide the reader with a complete and schematic picture of the state-of-the-art of hand exoskeletons. The focus is placed on the description of the main aspects that are involved in the exoskeleton design such as the system kinematics, the actuator systems, the transmission parts and the control schemes. Additionally, the critical issues provided by the literature analysis are discussed in order to enlighten the differences and the common features of different practical solutions. This paper may help to understand both the reasons why certain solutions are proposed for the different applications and the advantages and drawbacks of the different designs proposed in the literature. The motivation of this study is the need to design a new hand exoskeleton for rehabilitation purposes

Multimodality with Eye tracking and Haptics: A New Horizon for Serious Games?

The goal of this review is to illustrate the emerging use of multimodal virtual reality that can benefit learning-based games. The review begins with an introduction to multimodal virtual reality in serious games and we provide a brief discussion of why cognitive processes involved in learning and training are enhanced under immersive virtual environments. We initially outline studies that have used eye tracking and haptic feedback independently in serious games, and then review some innovative applications that have already combined eye tracking and haptic devices in order to provide applicable multimodal frameworks for learning-based games. Finally, some general conclusions are identified and clarified in order to advance current understanding in multimodal serious game production as well as exploring possible areas for new applications

Design of a six degree-of-freedom haptic hybrid platform manipultor

Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2010Includes bibliographical references (leaves: 97-103)Text in English; Abstract: Turkish and Englishxv, 115 leavesThe word Haptic, based on an ancient Greek word called haptios, means related with touch. As an area of robotics, haptics technology provides the sense of touch for robotic applications that involve interaction with human operator and the environment. The sense of touch accompanied with the visual feedback is enough to gather most of the information about a certain environment. It increases the precision of teleoperation and sensation levels of the virtual reality (VR) applications by exerting physical properties of the environment such as forces, motions, textures. Currently, haptic devices find use in many VR and teleoperation applications. The objective of this thesis is to design a novel Six Degree-of-Freedom (DOF) haptic desktop device with a new structure that has the potential to increase the precision in the haptics technology. First, previously developed haptic devices and manipulator structures are reviewed. Following this, the conceptual designs are formed and a hybrid structured haptic device is designed manufactured and tested. Developed haptic device.s control algorithm and VR application is developed in Matlab© Simulink. Integration of the mechanism with mechanical, electromechanical and electronic components and the initial tests of the system are executed and the results are presented. According to the results, performance of the developed device is discussed and future works are addressed

Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments

Haptic Hand Exoskeleton for Precision Grasp Simulation

This paper outlines the design and the development of a novel robotic hand exoskeleton (HE) conceived for haptic interaction in the context of virtual reality (VR) and teleoperation (TO) applications. The device allows exerting controlled forces on fingertips of the index and thumb of the operator. The new exoskeleton features several design solutions adopted with the aim of optimizing force accuracy and resolution. The use of remote centers of motion mechanisms allows achieving a compact and lightweight design. An improved stiffness of the transmission and reduced requirements for the electromechanical actuators are obtained thanks to a novel principle for integrating speed reduction into torque transmission systems. A custom designed force sensor and integrated electronics are employed to further improve performances. The electromechanical design of the device and the experimental characterization are presented

Wearable haptic systems for the fingertip and the hand: taxonomy, review and perspectives

In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand

Integration of the hybrid-structure haptic interface: HIPHAD v1.0

Design, manufacturing, integration and initial test results of the 6-DoF haptic interface, HIPHAD v1.0, are presented in this paper. The hybrid haptic robot mechanism is composed of a 3-DoF parallel platform manipulator, R-Cube, for translational motions and a 3-DoF serial wrist mechanism for monitoring the rotational motions of the handle. The device is capable of displaying point-type of contact since only the R-Cube mechanism is actuated. The dimensions and the orientation of the R-Cube mechanism are reconfigured to comply with the requirements of the haptic system design criteria. The system has several advantages such as relatively trivial kinematical analysis, compactness and high stiffness. The integration of the system along with its mechanism, data acquisition card (DAQ), motor drivers, motors, position sensors, and computer control interface are outlined.Marie Curie International Reintegration Grant within the 7th European Community Framework Programm

Home-based rehabilitation of the shoulder using auxiliary systems and artificial intelligence: an overview

Advancements in modern medicine have bolstered the usage of home-based rehabilitation services for patients, particularly those recovering from diseases or conditions that necessitate a structured rehabilitation process. Understanding the technological factors that can influence the efficacy of home-based rehabilitation is crucial for optimizing patient outcomes. As technologies continue to evolve rapidly, it is imperative to document the current state of the art and elucidate the key features of the hardware and software employed in these rehabilitation systems. This narrative review aims to provide a summary of the modern technological trends and advancements in home-based shoulder rehabilitation scenarios. It specifically focuses on wearable devices, robots, exoskeletons, machine learning, virtual and augmented reality, and serious games. Through an in-depth analysis of existing literature and research, this review presents the state of the art in home-based rehabilitation systems, highlighting their strengths and limitations. Furthermore, this review proposes hypotheses and potential directions for future upgrades and enhancements in these technologies. By exploring the integration of these technologies into home-based rehabilitation, this review aims to shed light on the current landscape and offer insights into the future possibilities for improving patient outcomes and optimizing the effectiveness of home-based rehabilitation programs.info:eu-repo/semantics/publishedVersio