A Wearable Fingertip Cutaneous Haptic Device with Continuous Omnidirectional Motion Feedback

Peizhi Zhang*, Mitsuhiro Kamezaki, Yutaro Hattori, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2022 IEEE International Conference on Robotics and Automation, ICRA 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ8869-8875
ページ数7
ISBN(電子版)9781728196817
DOI
出版ステータスPublished - 2022
イベント39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, United States
継続期間: 2022 5月 232022 5月 27

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference39th IEEE International Conference on Robotics and Automation, ICRA 2022
国/地域United States
CityPhiladelphia
Period22/5/2322/5/27

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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