Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger
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arXiv
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| Format: | Preprint |
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2024
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| _version_ | 1866912033357692928 |
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| author | Su, Jiaji Zuo, Kaiwen Chua, Zonghe |
| author_facet | Su, Jiaji Zuo, Kaiwen Chua, Zonghe |
| contents | Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location for sensory substitution based on kinesthetic feedback. However, existing finger kinesthetic devices either provide only one-degree-of-freedom feedback, are bulky, or have low force output. Soft pneumatic actuators have high power density, making them suitable for realizing high force kinesthetic feedback in a compact form factor. We present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model. \changed{It has respective position and force ranges of +-3.18mm and +-1.00N laterally, and +-4.89mm and +-6.01N vertically, indicating its high power density and compactness. The average open-loop radial position and force accuracy of the kinematic model are 0.72mm and 0.34N.} Its 3Hz bandwidth makes it suitable for moderate speed haptic interactions in soft environments. We demonstrate the three-dimensional kinesthetic force feedback capability of our device for sensory substitution at the index figure in a virtual telemanipulation scenario. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_11606 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger Su, Jiaji Zuo, Kaiwen Chua, Zonghe Robotics Human-Computer Interaction Systems and Control Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location for sensory substitution based on kinesthetic feedback. However, existing finger kinesthetic devices either provide only one-degree-of-freedom feedback, are bulky, or have low force output. Soft pneumatic actuators have high power density, making them suitable for realizing high force kinesthetic feedback in a compact form factor. We present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model. \changed{It has respective position and force ranges of +-3.18mm and +-1.00N laterally, and +-4.89mm and +-6.01N vertically, indicating its high power density and compactness. The average open-loop radial position and force accuracy of the kinematic model are 0.72mm and 0.34N.} Its 3Hz bandwidth makes it suitable for moderate speed haptic interactions in soft environments. We demonstrate the three-dimensional kinesthetic force feedback capability of our device for sensory substitution at the index figure in a virtual telemanipulation scenario. |
| title | Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger |
| topic | Robotics Human-Computer Interaction Systems and Control |
| url | https://arxiv.org/abs/2409.11606 |