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An Add-On Device to Perform Dexterous Grasping Tasks With a Haptic Feedback System

[+] Author Affiliations
Jean-Claude Leon

Grenoble University, Grenoble, FranceInria, Grenoble, France

Thomas Dupeux

Inria, Grenoble, France

Jean-Rémy Chardonnet

Arts et Métiers ParisTech, Chalon-sur-Saône, France

Jérôme Perret

Haption, Laval, France

Paper No. DETC2015-46204, pp. V01BT02A022; 10 pages
doi:10.1115/DETC2015-46204
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1B: 35th Computers and Information in Engineering Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5705-2
  • Copyright © 2015 by ASME

abstract

Achieving grasping tasks in real time with haptic feedback may require the control of a large number of degrees of freedom (DOFs) to model hand and finger movements. This is mandatory to grasp objects with dexterity.

Here, a new device called HaptiHand is proposed that can be added to a haptic feedback arm and provide the user with enough DOFs so that he/she can intuitively and dexterously grasp an object, modify the virtual hand configuration and number of fingers with respect to the object while manipulating the object. Furthermore, this device is non-invasive and enables the user to apply forces on the fingers of the virtual hand. The HaptiHand lies inside the user’s hand so that the user can apply and release pressure on it in a natural manner that is transferred to the virtual hand using metaphors.

The focus is placed on the description of the technology and structure of the HaptiHand to justify the choices and explain the behavior of the HaptiHand during object grasping and releasing tasks. This is combined with a short description of the models used.

Copyright © 2015 by ASME
Topics: Grasping , Haptics , Feedback

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