TY - GEN
T1 - A Wearable Fingertip Cutaneous Haptic Device with Continuous Omnidirectional Motion Feedback
AU - Zhang, Peizhi
AU - Kamezaki, Mitsuhiro
AU - Hattori, Yutaro
AU - Sugano, Shigeki
N1 - Funding Information:
This work was supported by JSPS KAKENHI Grant No.21J13536, and the Research Institute for Science and Engineering, Waseda University. (Corresponding author: Peizhi, Zhang.) P. Zhang is with the Graduate Program for Embodiment Informatics for Leading Graduate Schools, Waseda University, Research Innovation Center Waseda Univ., 513-2 Waseda Tsurumakicho, Shinjuku-ku, Tokyo 162-0041, Japan (pzsc@fuji.waseda.jp).
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In both teleoperation in real space and exploration in virtual space, 'passive' and 'active' haptic feedback can help to improve the performance of the task, especially in object handover and exploring. However, the current wearable haptic devices are hard to display continuous omnidirectional motion feedback simultaneously, which makes it not yet achieved. In this study, we thus propose a cutaneous haptic device, which enables continuous omnidirectional motion feedback for exhibiting 'active' and 'passive' haptic feedback. By applying small smart actuators (i.e., piezo actuators), the device can obtain contact force and be wearable. By arranging the closed loop with a plain-woven structure, our device makes continuous omnidirectional motion feedback possible. Our 35 g device can generate 0.94 N contact force and 0.5 N shear force. The passive and active haptic evaluations also proved its haptic capability. In conclusion, our proposed device with 'active' and 'passive' haptic feedback can provide continuous omnidirectional motion making it possible to be used for precise teleoperation.
AB - In both teleoperation in real space and exploration in virtual space, 'passive' and 'active' haptic feedback can help to improve the performance of the task, especially in object handover and exploring. However, the current wearable haptic devices are hard to display continuous omnidirectional motion feedback simultaneously, which makes it not yet achieved. In this study, we thus propose a cutaneous haptic device, which enables continuous omnidirectional motion feedback for exhibiting 'active' and 'passive' haptic feedback. By applying small smart actuators (i.e., piezo actuators), the device can obtain contact force and be wearable. By arranging the closed loop with a plain-woven structure, our device makes continuous omnidirectional motion feedback possible. Our 35 g device can generate 0.94 N contact force and 0.5 N shear force. The passive and active haptic evaluations also proved its haptic capability. In conclusion, our proposed device with 'active' and 'passive' haptic feedback can provide continuous omnidirectional motion making it possible to be used for precise teleoperation.
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U2 - 10.1109/ICRA46639.2022.9812131
DO - 10.1109/ICRA46639.2022.9812131
M3 - Conference contribution
AN - SCOPUS:85136324965
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 8869
EP - 8875
BT - 2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 39th IEEE International Conference on Robotics and Automation, ICRA 2022
Y2 - 23 May 2022 through 27 May 2022
ER -