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The stiffness of a bag containing particles can be increased by evacuating the air inside it. This stiffness-control technology, referred to as granular jamming, has been used in force displays. In such displays, the operator feels a reaction-force sensation when deforming the bag with a hand motion. The particle-containing bag can be deformed into any shape; however, the bag cannot be converted into...
Pin-based tactile displays have now been in use for more than forty years. One shortcoming, however, is their susceptibility to contaminants that jeopardize the operation of the delicate actuating mechanisms, necessitating costly periodic maintenance. We propose to cover such displays with a GoreTex protective layer to block the contaminants from reaching the sliding surfaces. The feel of the pins,...
There are few mathematical indices to quantize the adaptability, although it is mentioned repeatedly as a highlight of underactuated mechanisms in literatures. This paper discusses the grasp adaptability of underactuated mechanisms. Different from compliance, namely the reciprocal of stiffness, the adaptability is presented as the ability of adaptive motion. Two measures of adaptability are proposed...
To realize the underwater intervention, a Father-son Underwater Intervention Robotic System (FUIRS) is proposed in our laboratory. The FUIRS employs a novel biomimetic microrobot to realize underwater manipulation tasks. The main work of this paper is to describe the biomimetic microrobot which is inspired by an octopus. The microrobot is mainly composed of body and arm. We use IPMC to fabricate the...
Perception of images shape is the key point of electrostatic tactile interaction in the field of Virtual Reality and Human-Computer Interaction. In this paper, we present an electrostatic tactile-rendering algorithm for images shape feature under Gaussian bumps, which extracts heights of images shape by using the method of shape from shading. We analyze the force corresponding relationship between...
To efficiently explore a surface using the sense of touch, a novel contact sensing finger was created and a surface following control algorithm for the finger was devised. Based on the accurate estimation of contact locations, and the direction and magnitude of the normal and tangential forces, the finger can robustly and rapidly follow surfaces with large change in curvature while maintaining a desired...
This paper proposes a strategy for grasp and manipulation of unknown objects. In order to derive force relations of fingers, the groped shape of soft fingers is introduced. The groped shape is not equal to the real object shape, but is tightly related to the force equilibrium of fingers. By considering contact forces of the groped shape, a simple control parameters can be derived. The manipulation...
This paper shows mechanisms for an artificial finger based on the originally developed mechanism called “double planetary gear system” (DPGS). Using the DPGS as a transmitter provides an under-actuated system for driving three joints of a finger with back-drivability that is a crucial characteristic for fingers as end-effectors potentially interacting with external environment. The DPGS provides not...
The effect of contact location information on the perception of virtual edges was investigated by comparing human edge sharpness discrimination under the force-alone and force-plus-contact-location conditions. The virtual object consisted of the 2D profile of an edge with two adjoining surfaces. Edge sharpness JNDs for both conditions increased from about 2 to 7 mm as the edge radii increased from...
We have prototyped a multi-finger haptic system that makes it possible to present a virtual object that applies attractive force to three fingers and the palm of the right hand, and evaluated the user's perception of the size and shape of an object. It was suggested from the results of a size experiment that the size perception can be conveyed more accurately by grasping the virtual object along with...
In this paper, we implement an ungrounded pen-shaped kinesthetic display and construct a three-dimensional (3D) haptic interaction system. The ungrounded pen-shaped kinesthetic display provides kinesthetic sensations to a user's fingers without the use of mechanical linkages. Therefore, the user can move his/her hand freely in air and interact with virtual environments with sensation of touching....
Gripping is a very important function in daily life and there will be a best form for gripping for each person. If the form is best, then it will contain some information about the physical and mental condition of the person, and there might be some common mathematical formulas by which we can describe the best form to each person. Such concept as to best fit everybody may be the concept of universal...
A new portable device for haptic interaction with virtual environments is presented. It is a lightweight interface for the fingertips, designed for providing cutaneous feedback and displaying the contact - non contact transition in highly immersive virtual environments. In this paper the kinematics, the mechanical design and the control system are described. The device has been mounted on a kinesthetic...
This paper presents a piezoresistive sensor-array for micro-handling applications, capable of detecting the contact locations of an object and the distribution of the contact forces across the array elements. The device is fabricated with an IC-compatible process. Cantilevers with different shapes are used as test objects to push against the device at various positions and orientations. By combining...
This paper presents a method for object shape recognition and the real-time grasping of unknown plane objects only using the positions information of robotic hand fingers. We aim to recover the shape, position and orientation of the grasped object by random five grasping points and the vision system in Cartesian space. A highly intelligent information fusion model which is combined with the expert...
In order to eliminate twisting deformation of the flexible pneumatic finger, the mechanical structure of the pneumatic finger is improved and a rigid chain component is designed for it. The flexible finger automatically adapts well to the irregular shape of grasping object. The change of the pressure value of the compressed air in the flexible finger and the output force of the finger when grasping...
In the development of miniature opening and closing mechanism, piezoelectric element has been used as its actuator. This mechanism, however, tends to become larger and complicated as it needs a mechanism for displacement enlargement because of the infinitesimal output displacement. Therefore, an attempt applying buckling phenomenon of long column to the opening and closing mechanism has been made...
This paper describes the design, creation, and validation of an infrastructure for grasping. The infrastructure is premised on the ability to use large amounts of memory to store grasping algorithms in a database that can be applied broadly with any hand on any arm. This effort includes the development of a software architecture; a language syntax for configuration, shape-matching, and algorithms...
Many interactive surfaces have the ability to detect the shape of hands or objects placed on them. However, shape information is typically either condensed to individual contact points or categorized as discrete gestures. This does not leverage the full expressiveness of touch input, thus limits the actions users can perform in interactive applications. We present ShapeTouch, an exploration of interactions...
This paper addresses a largely open problem in haptic simulation and rendering: contact force and deformation modeling for haptic simulation of grasping a deformable object with a realistic virtual human hand, especially in power grasps. The virtual hand model consists of meshes of realistic shapes for the finger links and palm of a hand. We tackle the problem by adopting the non-linear contact force...
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