scholarly journals Towards Multi-finger Dexterous Hand Mechanics Control and Tactile Feedback

2021 ◽  
Vol 15 (4) ◽  
pp. 0-0
Keyword(s):  
Haptic Feedback ◽  
Rapid Development ◽  
Tactile Feedback ◽  
Kinematics And Dynamics ◽  
Robotic Hand ◽  
Space Technology ◽  
Mechanical Control ◽  
Drive Control ◽  
Dexterous Hand ◽  
End Effectors

Abstract：The ever-changing demands of industrial automation and space technology have promoted the rapid development of robotics. Traditional robotic end effectors are difficult to perform smart operations, so there is an urgent need for a robotic hand to perform complex operations instead of humans. In this article, we will focus our attention on mechanical control and haptic feedback. Mechanical control and haptic feedback are necessary conditions for the stable and accurate grasping of multi-finger dexterous hands. Tactile perception can provide stiffness and temperature to multi-finger dexterous hands. Important information makes the function of the dexterous hand more perfect. This article introduces the kinematics and dynamics of dexterous hand fingers, as well as the kinematics and dynamics solving equations, then reviews the current sensors and various control driving methods used in dexterous hands, discusses drive control, and compares each method Pros and cons. Finally, the future development of dexterous hands is predicted.

scholarly journals Configuration Design and Verification of Soft-rigid Hybrid Hand with ab/ adduction Movement

2021 ◽  
Author(s):  
Zhe Liu ◽  
Zeyi Zhang ◽  
Weihong Liu ◽  
Guozhen Huang ◽  
Yongkang Jiang ◽  
...  
Keyword(s):  
Contact Area ◽  
Load Capacity ◽  
Transfer Efficiency ◽  
Service Robot ◽  
Configuration Design ◽  
Robotic Hand ◽  
Infrared Thermometer ◽  
Motor Torque ◽  
Force Transfer ◽  
Dexterous Hand

Abstract Dexterous hand, as robot end effecter, is gradually showing unparalleled potential. In this paper, we proposed a novel configuration for the movement of the robot thumb metacarpal joint. Then, the force transfer efficiency of the finger structure is analyzed to reduce the demand for motor torque and realize the integration of ten motors inside the palm. Additionally, With the help of a soft-rigid hybrid palm, the contact area of the grasping object and the load capacity has increased considerably. Finally, the integrated verification is carried out on the home-made service robot, which can obtain reliable grasping of objects of various shapes and different surface features. What’s more, the robotic hand flexibly operates the infrared thermometer to measure the temperature of the water in the cup which shows a great application prospect in the field of service and industry.

Design, modeling, and evaluation of a slim haptic actuator based on electrorheological fluid

2019 ◽  
Vol 30 (17) ◽  
pp. 2521-2533 ◽  
Author(s):  
Alex Mazursky ◽  
Jeong-Hoi Koo ◽  
Tae-Heon Yang
Keyword(s):  
Electric Fields ◽  
Printed Circuit Board ◽  
Haptic Feedback ◽  
Electrorheological Fluid ◽  
Tactile Feedback ◽  
Circuit Board ◽  
Just Noticeable Difference ◽  
Elastic Membrane ◽  
Kinesthetic Feedback ◽  
Control Electronics

Realistic haptic feedback is needed to provide information to users of numerous technologies, such as virtual reality, mobile devices, and robotics. For a device to convey realistic haptic feedback, two touch sensations must be present: tactile feedback and kinesthetic feedback. Although many devices today convey tactile feedback through vibrations, most neglect to incorporate kinesthetic feedback. To address this issue, this study investigates a haptic device with the aim of conveying both kinesthetic and vibrotactile information to users. A prototype based on electrorheological fluids was designed and fabricated. By controlling the electrorheological fluid flow via applied electric fields, the device can generate a range of haptic sensations. The design centered on an elastic membrane that acts as the actuator’s contact surface. Moreover, the control electronics and structural components were integrated into a compact printed circuit board, resulting in a slim device suitable for mobile applications. The device was tested using a dynamic mechanical analyzer to evaluate its performance. The device design was supported with mathematical modeling and was in agreement with experimental results. According to the just-noticeable difference analysis, this range is sufficient to transmit distinct kinesthetic and vibrotactile sensations to users, indicating that the electrorheological fluid–based actuator is capable of conveying haptic feedback.

Multi-Mode Haptic Display of Image Based on Force and Vibration Tactile Feedback Integration

2020 ◽  
pp. 2154017
Author(s):  
Lei Tian ◽  
Aiguo Song ◽  
Dapeng Chen
Keyword(s):  
Haptic Perception ◽  
Haptic Feedback ◽  
Three Dimensional ◽  
Tactile Feedback ◽  
Geometric Shape ◽  
Haptic Display ◽  
Device Structure ◽  
Sense Of Reality ◽  
Integrated Device ◽  
Multi Mode

In order to enhance the sense of reality haptic display based on image, it is widely expected to express various characteristics of the objects in the image using different kinds of haptic feedback. To this end, a multi-mode haptic display method of image was proposed in this paper, including the multi-feature extraction of image and the image expression with various types of haptic rendering. First, the device structure integrating force and vibrotactile feedbacks was designed for multi-mode haptic display. Meanwhile, the three-dimensional geometric shape, detail texture and outline of the object in the image were extracted by various image processing algorithms. Then, a rendering method for the object in the image was proposed based on the psychophysical experiments on the piezoelectric ceramic actuator. The 3D geometric shape, detail texture and outline of the object were rendered by force and vibration tactile feedbacks, respectively. Finally, these three features of the image were haptic expressed simultaneously by the integrated device. Haptic perception experiment results show that the multi-mode haptic display method can effectively improve the authenticity of haptic perception.

Design of a Multi-Palm Robotic Hand for Assembly Tasks

2016 ◽  
Author(s):  
Reza Movassagh-Khaniki ◽  
Neda Hassanzadeh ◽  
Abhijit Makhal ◽  
Alba Perez-Gracia
Keyword(s):  
Collaborative Work ◽  
Synthesis Process ◽  
Robotic Hand ◽  
Robot Arm ◽  
Robotic Hands ◽  
Robotic Arms ◽  
Bimanual Task ◽  
Tree Topologies ◽  
End Effectors ◽  
Assembly Tasks

Some robotic tasks, especially those in which there are interactions between manipulated objects, require the collaborative work of two robotic arms equipped with end-effector grippers or robotic hands. Most of the current applications in which a bimanual task is attempted by a robot use two robot arm manipulators with simple grippers, in which the end-effectors are used for grasping and the remaining motion is performed by the robotic arms. In this work, we propose the design of a highly dexterous multi-fingered robotic hand, able to perform the bimanual task when attached to a simple arm manipulator. Dexterous robotic hands can be designed with more than one splitting stage; their design for a task can be done using kinematic synthesis for tree topologies. The synthesis process is applied in this case to the design of a robotic hand with three palms for a bimanual task consisting of assembling an emergency stop button.

scholarly journals Effect of 2.5D haptic feedback on virtual object perception via a stylus

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Gyuwon Kim ◽  
Donghyun Hwang ◽  
Jaeyoung Park
Keyword(s):  
Haptic Feedback ◽  
Human Perception ◽  
Object Perception ◽  
Touch Screen ◽  
Interaction Force ◽  
Tactile Feedback ◽  
Virtual Object ◽  
Smart Device ◽  
Realistic Interaction ◽  
Skin Stretch

AbstractAs touch screen technologies advanced, a digital stylus has become one of the essential accessories for a smart device. However, most of the digital styluses so far provide limited tactile feedback to a user. Therefore we focused on the limitation and noted the potential that a digital stylus may offer the sensation of realistic interaction with virtual environments on a touch screen using a 2.5D haptic system. Thus, we developed a haptic stylus with SMA (Shape Memory Alloy) and a 2.5D haptic rendering algorithm to provide lateral skin-stretch feedback to mimic the interaction force between fingertip and a stylus probing over a bumpy surface. We conducted two psychophysical experiments to evaluate the effect of 2.5D haptic feedback on the perception of virtual object geometry. Experiment 1 investigated the human perception of virtual bump size felt via the proposed lateral skin-stretch stylus and a vibrotactile stylus as reference. Experiment 2 tested the participants’ ability to count the number of virtual bumps rendered via the two types of haptic styluses. The results of Experiment 1 indicate that the participants felt the size of virtual bumps rendered with lateral skin-stretch stylus significantly sensitively than the vibrotactile stylus. Similarly, the participants counted the number of virtual bumps rendered with the lateral skin-stretch stylus significantly better than with the vibrotactile stylus. A common result of the two experiments is a significantly longer mean trial time for the skin-stretch stylus than the vibrotactile stylus.

scholarly journals Investment in Space Resources: Property Rights to Natural Resources Extracted in Space and the Position of Iraqi legal system

2019 ◽  
Vol 5 (1) ◽  
pp. 36
Author(s):  
Arez Mohammed Sediq Othman
Keyword(s):  
Natural Resources ◽  
Legal System ◽  
Outer Space ◽  
Rapid Development ◽  
The United States ◽  
Legal Framework ◽  
Space Technology ◽  
Private Companies ◽  
Private Corporations ◽  
Space Activities

In the second half of the last century, the space activities have increased paralleled with the rapid development in space technology. The greed of giant corporations has exceeded the universe and tried to reach resources outside Earth. Exploring other planets is not something new, while racing to reach the resources outside earth by private space exploration companies as human’s off earth destiny is quite recent. Many nations have plan to reach the moon by 2020 including the United States who has plan to establish a permanent base on moon by 2024. The ambition to reach outer space is not just for the scientific purposes, but rather to exploit resources form space. As long as space is a common sphere among all the nations, there are many treaties signed and ratified to lay down broad rules and principle to organize the area. Mining celestial materials is one of the issues that does not have a legal framework as private companies are eagerly trying to mine materials which are not existed on earth such as Helium three or any other bodies that are scarce on earth. Until now, the international community has not been successful in establishing a solid legal system to regulate outer space activities. Besides, there are attempts by some countries to have particular legislation allowing private companies to extract natural resources. However, technological, economic and military powers of countries are the major factors in exercising the activities outside our planet due to the special nature of such activities. This paper argues that despite the difficulties of having a consensus over a legal framework, there are many other issues that need to be taken into consideration. Further, the perspective of the Iraqi legal system is also examined with regard to the possibility of adopting particular law on outer space activities. It also argues that although the lack of advanced technological skills might avoid countries reaching outer space, it will not prevent states from adopting specific legislation to regulate private corporations’ attempt to explore in this field.        

scholarly journals Human-Scale Virtual Environment for Product Design: Effect of Sensory Substitution

2006 ◽  
Vol 5 (2) ◽  
pp. 37-44 ◽  
Author(s):  
Paul Richard ◽  
Damien Chamaret ◽  
François-Xavier Inglese ◽  
Philippe Lucidarme ◽  
Jean-Louis Ferrier
Keyword(s):  
Product Design ◽  
Virtual Environment ◽  
Large Scale ◽  
Haptic Feedback ◽  
Calibration Method ◽  
Open Loop ◽  
Tactile Feedback ◽  
Sensory Substitution ◽  
Human Scale ◽  
Different Parts

This paper presents a human-scale virtual environment (VE) with haptic feedback along with two experiments performed in the context of product design. The user interacts with a virtual mock-up using a large-scale bimanual string-based haptic interface called SPIDAR (Space Interface Device for Artificial Reality). An original self-calibration method is proposed. A vibro-tactile glove was developed and integrated to the SPIDAR to provide tactile cues to the operator. The purpose of the first experiment was: (1) to examine the effect of tactile feedback in a task involving reach-and-touch of different parts of a digital mock-up, and (2) to investigate the use of sensory substitution in such tasks. The second experiment aimed to investigate the effect of visual and auditory feedback in a car-light maintenance task. Results of the first experiment indicate that the users could easily and quickly access and finely touch the different parts of the digital mock-up when sensory feedback (either visual, auditory, or tactile) was present. Results of the of the second experiment show that visual and auditory feedbacks improve average placement accuracy by about 54 % and 60% respectively compared to the open loop case

scholarly journals Robotic hand illusion with tactile feedback: Unravelling the relative contribution of visuotactile and visuomotor input to the representation of body parts in space

PLoS ONE ◽  
2019 ◽  
Vol 14 (1) ◽  
pp. e0210058 ◽  
Author(s):  
The Vu Huynh ◽  
Robin Bekrater-Bodmann ◽  
Jakob Fröhner ◽  
Joachim Vogt ◽  
Philipp Beckerle
Keyword(s):  
Tactile Feedback ◽  
Robotic Hand ◽  
Body Parts ◽  
Relative Contribution

A Virtual Physical Therapy Lab to Simulate a Balance Perturbation Assessment Setup

2020 ◽  
Author(s):  
Maya Martinez ◽  
Praveen Shankar ◽  
Panadda Marayong ◽  
Vennila Krishnan
Keyword(s):  
Physical Therapy ◽  
User Study ◽  
Rapid Development ◽  
Tactile Feedback ◽  
Body Motion ◽  
Physical Contact ◽  
Cave System ◽  
Individualized Care ◽  
Virtual Lab ◽  
Kinematic Measures

Abstract The paper addresses the development of a virtual physical therapy lab in an immersive CAVE system (Visbox, Inc., IL) to simulate a balance perturbation experiment in a Physical Therapy (PT) setting. The primary goal is to determine if virtual reality (VR) can be effectively used for rehabilitative assessment and training instead of a physical setup. The Balance Perturbation Setup (BPS) includes a seven-and-a-half-foot apparatus with an adjustable-height pendulum and pads attached to its structure for making physical contact with a participant. This pendulum is reconfigurable and can be adjusted to the participant’s height and shoulder width. The released pendulum perturbs the participant’s upper torso at the shoulder level disturbing the upright stability of the participant. The virtual environment developed in this study utilizes Unity 3D and Blender software to recreate the BPS and the environment of the PT lab in the CAVE VR system integrated with a full body motion capture. A haptic vest equipped with tactors is developed to simulate the tactile feedback when the pendulum makes contact with the participant’s upper torso. This virtual lab for balance assessment is expected to be evaluated in a user study for its effectiveness as compared to the physical BPS setup using appropriate kinematic measures and sensors. The virtual lab has the potential to provide an alternate, highly reconfigurable method for physical therapy evaluations leading to rapid development of strategies for individualized care.

Thinking of the Planning and Construction of Intelligent City

2013 ◽  
Vol 807-809 ◽  
pp. 1758-1761
Author(s):  
Xia Li
Keyword(s):  
City Planning ◽  
Rapid Development ◽  
Point Of View ◽  
Space Technology ◽  
Planning Strategy ◽  
Strategic Model ◽  
Intelligent City ◽  
New Type ◽  
Planning And Construction

With the rapid development of space technology, the global strategic model towns, intelligent city as an important way of new-type urbanization plays in the urbanization wave of a new round of the role. The article first defines the concept and characteristics of Intelligent City, and expounds the planning strategy of intelligent city from the point of view of city planning.

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