IEEE Transactions on Haptics
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From the July-September 2017 issue
A 3-RSR Haptic Wearable Device for Rendering Fingertip Contact Forces
By Daniele Leonardis, Massimiliano Solazzi, Ilaria Bortone, and Antonio Frisoli
A novel wearable haptic device for modulating contact forces at the fingertip is presented. Rendering of forces by skin deformation in three degrees of freedom (DoF), with contact—no contact capabilities, was implemented through rigid parallel kinematics. The novel asymmetrical three revolute-spherical-revolute (3-RSR) configuration allowed compact dimensions with minimum encumbrance of the hand workspace. The device was designed to render constant to low frequency deformation of the fingerpad in three DoF, combining light weight with relatively high output forces. A differential method for solving the non-trivial inverse kinematics is proposed and implemented in real time for controlling the device. The first experimental activity evaluated discrimination of different fingerpad stretch directions in a group of five subjects. The second experiment, enrolling 19 subjects, evaluated cutaneous feedback provided in a virtual pick-and-place manipulation task. Stiffness of the fingerpad plus device was measured and used to calibrate the physics of the virtual environment. The third experiment with 10 subjects evaluated interaction forces in a virtual lift-and-hold task. Although with different performance in the two manipulation experiments, overall results show that participants better controlled interaction forces when the cutaneous feedback was active, with significant differences between the visual and visuo-haptic experimental conditions.
Editorials and Announcements
- An article by Domenico Prattichizzo and his colleagues at the University of Siena, Italy on a wearable haptic device that will be published in Transactions in Haptics has been featured in Science magazine news: http://www.sciencemag.org/news/2017/04/finger-devices-let-users-touch-objects-virtual-reality
- Read "A Haptic Compass for Navigation" written by EIC Lynette Jones for the Spotlight series in Computer magazine that discusses a paper by J.P. Choinière and C. Gosselin published in the January-March 2017 issue which examined the use of asymmetric torque stimuli presented in a hand-held device as a navigation aid.
- TOH Citations for Meritorious Service (2008-2016)
- Editorial (Jan-March 2017)
- EIC Editorial (Jan-March 2016)
- Editorial (Jan-March 2015)
- Editorial (Jan-March 2014)
- Haptics in Neuroscience (Oct-Dec 2016)
- Biology to Technology in Active Touch Sensing – Introduction to the Special Section (April-June 2016)
- Haptic Assistive Technology for Individuals who are Visually Impaired (July-Sept 2015)
- News from the Field (July-Sept 2017)
- News from the Field (Jan-March 2017)
- News from the Field (July-Sept 2016)
- News from the Field (April-June 2016)
- Book Review: Taking the Other Cinderella to the Ball: A Review of Psychology of Touch and Blindness (PDF)
- News from the Field (July-Sept 2015)
- News from the Field: Coders and the Creative Unite to Design and Build Apps for Surface Haptics (April-June 2015)
- News from the Field Asia Haptics (Jan-March 2015)
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