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Haptic augmented reality allows a user to feel the sensation of a real object augmented with synthetic haptic stimuli created by a haptic interface. For example, the user feels a soft sponge as if it is a stiffer rubber. This demonstration presents a haptic augmented reality framework in which the stiffness of a real object is modulated with additional virtual haptic feedback. A haptic interface is...
This paper presents the design and characteristics of a five-fingered haptic interface robot: HIRO III. The aim of the paper is to provide a high-precision force representation at the five human fingertips. HIRO III consists of a 15-degree-of-freedom (DOF) haptic hand, a 6 DOF interface arm and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large workspace...
Physical human-robot interaction can be significantly improved when being aware about the role each partner takes in a joint manipulation task. This holds especially in computer assisted teleoperation, where depending on the identified role of the human, different roles can be assigned to the assistance function. This work proposes a method for the determination of two non exclusive roles, an executor...
When a person moves or presses with an individual finger other fingers also produce a force (Kilbreath and Gandevia 1994; Li et al. 2004; Zatsiorsky et al. 2000). Several factors are known to contribute to this response: (1) peripheral mechanical coupling, (2) multi-digit motor units, and (3) diverging central commands. This phenomenon, known as enslaving, has traditionally been studied in isometric...
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