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We have proposed a vision-based cutaneous sensor for telexistence that can simulate the physical interaction between a human fingertip and an object. The proposed sensor comprises a finger-shaped GelForce and a thermo-sensitive paint. The finger-shaped GelForce enables us to measure tactile information in terms of the distribution of forces that are calculated from the displacements of markers inside...
It is believed that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous operations. Therefore, we develop a new type of finger-shaped haptic sensor using GelForce technology. GelForce is a vision-based sensor that can be used to measure the distribution of force vectors, or surface traction fields. The simple structure...
The paper focuses on the teleoperation system TeleTA with haptic feedback designed to realize haptic communication with remote human, to achieve high level of maneuverability of robot arm in unstructured environment, and to increase effectiveness of physical human-robot interaction. The human operator directs the robot arm to the target position, while manipulator sensory system provides safe physical...
In this study, we propose a novel grip-type haptic display for controlling a virtual (or robotic) hand (Fig. 1). This grip-type haptic display enables us to control a virtual hand and perceive haptic information based on a reactive force and a spatially distributed tactile feedback. Because this proposed display does not need any actuators to produce the reactive force, a simple haptic display is...
We propose a haptic feedback system for an arm in order to obtain the sensation of stiffness and the boundary of virtual objects. Powerful haptic displays are large and heavy, interfering with movement in the virtual environment. Here, we focus on an illusion called pseudo-haptic feedback, which provides the results of haptic feedback using only visual impressions. Since pseudo-haptic feedback is...
It is expected that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous manipulations. Therefore, we have developed a new type of finger-shaped haptic sensor that can measure a three-dimensional force vector field over a contact surface. The sensor consists of a transparent elastic body, two layers of internal blue...
The goal of this study is to develop a haptic interface for dexterous manipulation. To achieve this, we proposed electrotactile-kinesthetic integration. Our electrotactile display presents natural touch sensations of objects. In addition, this display is so small that it is considered to not affect the moving range of fingers. The haptic interface for dexterous manipulation is realized by mounting...
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