Haptic Gloves With Compact Finger Mechanism Using Active and Passive Actuation

2009 ◽  
Author(s):  
Goktug A. Dazkir ◽  
Hakan Gurocak
Keyword(s):  
Virtual Worlds ◽  
Force Feedback ◽  
Reaction Force ◽  
Magnetorheological Fluid ◽  
Task Completion ◽  
Bottom Surface ◽  
The One ◽  
Distributed Forces ◽  
Completion Times ◽  
Natural Way

Most haptic gloves are complicated interfaces with many actuators. If the gloves were more compact and simpler, they would greatly increase our ability to interact with virtual worlds in a more natural way. This research explored design of force feedback gloves with a new finger mechanism. The mechanism enabled application of distributed forces at the bottom surface of the fingers while reducing the number of actuators. Most glove designs available in the literature apply a reaction force only to the fingertips. Two prototype gloves were built using (1) DC servo motors, and (2) brakes filled with magnetorheological fluid. The glove with MR-brakes is lighter and simpler than the one with motors. However, the glove with motors enabled much faster task completion times.

Haptic Glove with MR Brakes for Distributed Finger Force Feedback

2009 ◽  
Vol 18 (6) ◽  
pp. 421-433 ◽  
Author(s):  
Conrad Bullion ◽  
Hakan Gurocak
Keyword(s):  
Virtual Worlds ◽  
User Interfaces ◽  
Force Feedback ◽  
Task Completion ◽  
Bottom Surface ◽  
Grasping Force ◽  
Human Finger ◽  
Flux Path ◽  
Distributed Forces ◽  
Natural Way

Most existing haptic gloves are complicated user interfaces with remotely located actuators. More compact and simpler haptic gloves would greatly increase our ability to interact with virtual worlds in a more natural way. This research explored the design of a compact force feedback glove using a new finger mechanism and magnetorheological (MR) brakes as passive actuators that oppose human finger motion. The mechanism allowed for a reduction of the number of actuators and application of distributed forces at the bottom surface of user's fingers when an object was grasped in a virtual environment. The MR brakes incorporated a serpentine flux path that led to a small brake with high torque output and the elimination of remote actuation. Force analysis of the mechanism, grasping force experiments, and virtual pick-and-place experiments were done. The glove reduced task completion time by 61% and could support up to 17 N fingertip force along with 11.9 N and 18.7 N middle and proximal digit forces.

Finger Mechanism of a Haptic Glove for Force Feedback in Virtual Environments

2007 ◽  
Author(s):  
Conrad Bullion ◽  
Goktug A. Dazkir ◽  
Hakan Gurocak
Keyword(s):  
Virtual Reality ◽  
Virtual Environments ◽  
Force Feedback ◽  
Bottom Surface ◽  
Force Analysis ◽  
Ongoing Research ◽  
Virtual Objects ◽  
Simulated Environment ◽  
Grasping Forces ◽  
Distributed Forces

In this paper we present details of a finger mechanism designed as part of an ongoing research on a force feedback glove. The glove will be used in virtual reality applications where it will provide force feedback to the user as he grasps virtual objects. Haptic (touch and force) feedback is an essential component to make the simulated environment feel more realistic to the user. The design employs an innovative mechanism that wraps around each finger. Each mechanism is controlled by one cable. By controlling the tension on the cable and the displacement of the cable, we can control the amount of force applied to the user’s finger at any given position of the mechanism. The glove can provide distributed forces at the bottom surface of each finger while reducing the number of actuators and sensors. First kinematic and force analysis of the mechanism along with experimental verifications are presented. Following description of an experiment to determine grasping forces, we conclude with an overview of the next steps in this research.

Experiments Using Multimodal Virtual Environments in Design for Assembly Analysis

1997 ◽  
Vol 6 (3) ◽  
pp. 318-338 ◽  
Author(s):  
Rakesh Gupta ◽  
Thomas Sheridan ◽  
Daniel Whitney
Keyword(s):  
Virtual Environment ◽  
Computer Aided Design ◽  
Force Feedback ◽  
Human Subjects ◽  
Task Completion ◽  
Design For Assembly ◽  
Dynamic Interactions ◽  
Physical Apparatus ◽  
Assembly Analysis ◽  
Completion Times

The goal of this work is to investigate whether estimates of ease of part handling and part insertion can be provided by multimodal simulation using virtual environment (VE) technology. The long-term goal is to use this data to extend computer-aided design (CAD) systems in order to evaluate and compare alternate designs using design for assembly analysis. A unified, physically-based model has been developed for modeling dynamic interactions and has been built into a multimodal VE system called the Virtual Environment for Design for Assembly (VEDA). The designer sees a visual representation of objects, hears collision sounds when objects hit each other, and can feel and manipulate the objects through haptic interface devices with force feedback. Currently these models are 2D in order to preserve interactive update rates. Experiments were conducted with human subjects using a two-dimensional peg-in-hole apparatus and a VEDA simulation of the same apparatus. The simulation duplicated as well as possible the weight, shape, size, peg-hole clearance, and fictional characteristics of the physical apparatus. The experiments showed that the multimodal VE is able to replicate experimental results in which increased task completion times correlated with increasing task difficulty (measured as increased friction, increased handling distance, and decreased peg-hole clearance). However, the multimodal VE task completion times are approximately twice those of the physical apparatus completion process. A number of possible factors have been identified, but the effect of these factors has not been quantified.

The Effects of Practice on Navigation Performance and Mental Workload with a Mirror-In-The-Sky Map

2021 ◽  
Vol 65 (1) ◽  
pp. 1546-1550
Author(s):  
Holland M. Vasquez ◽  
Justin G. Hollands ◽  
Greg A. Jamieson
Keyword(s):  
Task Performance ◽  
Secondary Task ◽  
Mental Workload ◽  
Task Completion ◽  
Practice Performance ◽  
Global Ratings ◽  
Detection Response ◽  
Nasa Tlx ◽  
Response Task ◽  
Completion Times

Some previous research using a new augmented reality map display called Mirror-in-the-Sky (MitS) showed that performance was worse and mental workload (MWL) greater with MitS relative to a track-up map for navigation and wayfinding tasks. The purpose of the current study was to determine—for both MitS and track-up map—how much performance improves and MWL decreases with practice in a simple navigation task. We conducted a three-session experiment in which twenty participants completed a route following task in a virtual environment. Task completion times and collisions decreased, subjective MWL decreased, and secondary task performance improved with practice. The NASA-TLX Global ratings and Detection Response Task Hit Rates showed a larger decrease in MWL with MitS than the track-up map. Additionally, means for performance and workload measures showed that differences between the MitS and track-up map decreased in the first session. In later sessions the differences between the MitS and track-up map were negligible. As such, with practice performance and MWL may be comparable to a traditional track-up map.

Evaluation of Rate-Based, Force-Reflecting Teleoperation in Free Motion and Contact

2000 ◽  
Vol 9 (1) ◽  
pp. 25-36 ◽  
Author(s):  
Robert L. Williams ◽  
Jason M. Henry ◽  
Daniel W. Repperger
Keyword(s):  
Task Performance ◽  
Air Force ◽  
Free Motion ◽  
Effectiveness Evaluation ◽  
Task Completion ◽  
Teleoperation System ◽  
Force Reflection ◽  
Teleoperation Systems ◽  
Contact Tasks ◽  
Completion Times

This research focuses on improved control for force-reflecting teleoperation systems in free motion and contact tasks. Specifically, the Naturally Transitioning Rate-to-Force Controller (NTRFC) is implemented in an Air Force experimental force-reflecting teleoperation system to achieve a unified controller with no mode switches from free motion to contact, and to reduce the wrench exerted on the environment by the slave manipulator during remote teleoperation tasks. In an effectiveness evaluation experiment, the experimental hypothesis is validated: the NTRFC with force reflection performs the best amongst four teleoperation control modes with respect to minimal wrench exertion on the environment. A negligible difference was found in total task-completion times amongst the four modes. The NTRFC with force reflection has the potential to improve task performance in remote, hazardous, teleoperation tasks in which minimal exerted wrench is desirable.

scholarly journals The Relationship between Physical Fitness and Simulated Firefighting Task Performance

2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Goris Nazari ◽  
Joy C. MacDermid ◽  
Kathryn E. Sinden ◽  
Tom J. Overend
Keyword(s):  
Heart Rate ◽  
Physical Fitness ◽  
Grip Strength ◽  
Upper Body ◽  
Task Completion ◽  
Body Strength ◽  
Fitness Parameters ◽  
Lower Body Strength ◽  
The Relationship ◽  
Completion Times

The overall aim of this study was to measure the physiological responses of firefighters from a single fire service during simulated functional firefighting tasks and to establish the relationship between physical fitness parameters and task performance. 46 males and 3 females firefighters were recruited. Firefighters’ aerobic capacity levels were estimated using the Modified Canadian Aerobic Fitness Test (mCAFT). Grip strength levels, as a measure of upper body strength levels, were assessed using a calibrated J-Tech dynamometer. The National Institute for Occupational Safety and Health (NIOSH) protocol for the static floor lifting test was used to quantify lower body strength levels. Firefighters then performed two simulated tasks: a hose drag task and a stair climb with a high-rise pack tasks. Pearson’s correlation coefficients (r) were calculated between firefighters’ physical fitness parameters and task completion times. Two separate multivariable enter regression analyses were carried out to determine the predictive abilities of age, sex, muscle strength, and resting heart rate on task completion times. Our results displayed that near maximal heart rates of ≥88% of heart rate maximum were recorded during the two tasks. Correlation (r) ranged from −0.30 to 0.20. For the hose drag task, cardiorespiratory fitness and right grip strength (kg) demonstrated the highest correlations of −0.30 and −0.25, respectively. In predicting hose drag completion times, age and right grip strength scores were shown to be the statistically significant (p<0.05) independent variables in our regression model. In predicting stair climb completion times, age and NIOSH scores were shown to be the statistically significant (p<0.05) independent variables in our regression model. In conclusion, the hose drag and stair climb tasks were identified as physiological demanding tasks. Age, sex, resting heart rate, and upper body/lower body strength levels had similar predictive values on hose drag and stair climb completion times.

Cultivating curiosity

2017 ◽  
Author(s):  
Peggy D. Bennett
Keyword(s):  
Conflict Resolution ◽  
Problem Solving ◽  
Standardized Testing ◽  
Creative Problem Solving ◽  
Creative Project ◽  
Creative Problem ◽  
The One ◽  
Natural Way

“I wonder . . .” This simple phrase projects an openness to pos­sibilities. It reveals a readiness to contemplate. It suggests a will­ingness to explore and be momentarily confused. When we cultivate curiosity in our classes, we enter into a world of possibility, and we invite our students to join us: • “What would happen if . . . ?” • “How could we solve this problem?” • “What might be a reason that happened?” • “Can you imagine why he said that? What might he have meant?” • “How would you explain her idea?” Whether in the classroom or in the teachers’ lounge, showing interest in another’s ideas can prompt mutual wondering. Being curious about what and how others think can be a purposeful attitude. Curiosity invites questions: “How did you figure that out?” “What made you decide on that choice?” When we release ourselves from the “one answer” orienta­tion that standardized testing can produce, we spark vibrancy in our students. Creative problem- solving can become a habit of mind, a natural way to think. Whether the problem is tangible or imagined, opening students’ minds to “What else could it be?” can enliven their interest in learning and their fascination with their own minds. Whether in the context of a lesson, a creative project, or a conflict resolution, cultivating curiosity can open us to questions we may never have asked and understandings we may never have imagined.

scholarly journals Cityspace, Cyberspace, and the Spatiology of Information

1970 ◽  
Vol 1 (1) ◽  
Author(s):  
Michael L. Benedikt
Keyword(s):  
Cellular Automata ◽  
Data Visualization ◽  
Virtual Worlds ◽  
Physical Space ◽  
Thought Experiments ◽  
William Gibson ◽  
Architectural Space ◽  
Spatial Framework ◽  
The One ◽  
The Universe

Published in 1996* but not widely read, this article argues that space and information are so deeply related that the universe at every moment is exactly and only as large as it needs to be to “contain” the information it in fact is. Using three thought experiments—one about data visualization, one about cellular automata and consciousness, and one about the analysis of architectural space using isovists, each experiment blurring (or rather, uniting) the phenomena of psychological and physical space, the article argues that what we experience as “space” is that set of dimensions which provides the largest capacity for the world’s other qualities, objects, and events to express their variety most fully. The natural universe is incompressible, expanding only as, and because, it becomes richer in information (i.e. cools and evolves). Imaginary and virtual worlds obey the same rule: they are “naturally” as big as they are rich in information. But the possibility exists in cyberspace—as it does not in nature—to choose which dimensions will serve as the spatial framework, and which will become/appear as properties of the things themselves. Data visualizers know this well. One wonders why virtual worlds to this day look so similar to ours, then, rather than to the one envisaged by William Gibson in 1984 and 1986 and which he called “cyberspace.” A failure of architectural nerve? A constraint upon computation? Or has cyberspace proper yet to evolve?

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