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Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger

Jiaji Su, Kaiwen Zuo, Zonghe Chua

TL;DR

A soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model and demonstrates the three-dimensional kinesthetic force feedback capability of the device for sensory substitution at the index figure in a virtual telemanipulation scenario.

Abstract

Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location for sensory substitution based on kinesthetic feedback. However, existing finger kinesthetic devices either provide only one-degree-of-freedom feedback, are bulky, or have low force output. Soft pneumatic actuators have high power density, making them suitable for realizing high force kinesthetic feedback in a compact form factor. We present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model. \changed{It has respective position and force ranges of +-3.18mm and +-1.00N laterally, and +-4.89mm and +-6.01N vertically, indicating its high power density and compactness. The average open-loop radial position and force accuracy of the kinematic model are 0.72mm and 0.34N.} Its 3Hz bandwidth makes it suitable for moderate speed haptic interactions in soft environments. We demonstrate the three-dimensional kinesthetic force feedback capability of our device for sensory substitution at the index figure in a virtual telemanipulation scenario.

Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger

TL;DR

A soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model and demonstrates the three-dimensional kinesthetic force feedback capability of the device for sensory substitution at the index figure in a virtual telemanipulation scenario.

Abstract

Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location for sensory substitution based on kinesthetic feedback. However, existing finger kinesthetic devices either provide only one-degree-of-freedom feedback, are bulky, or have low force output. Soft pneumatic actuators have high power density, making them suitable for realizing high force kinesthetic feedback in a compact form factor. We present a soft pneumatic handheld kinesthetic feedback device for the index finger that is controlled using a constant curvature kinematic model. \changed{It has respective position and force ranges of +-3.18mm and +-1.00N laterally, and +-4.89mm and +-6.01N vertically, indicating its high power density and compactness. The average open-loop radial position and force accuracy of the kinematic model are 0.72mm and 0.34N.} Its 3Hz bandwidth makes it suitable for moderate speed haptic interactions in soft environments. We demonstrate the three-dimensional kinesthetic force feedback capability of our device for sensory substitution at the index figure in a virtual telemanipulation scenario.
Paper Structure (14 sections, 14 equations, 9 figures, 1 table)

This paper contains 14 sections, 14 equations, 9 figures, 1 table.

Table of Contents

  1. INTRODUCTION
  2. Hardware Design and Fabrication
  3. Design of the Soft Continuum Haptic Device
  4. Fabrication
  5. Pneumatic Control System
  6. Kinematic Modeling and Control
  7. Constant Curvature Model
  8. Jacobian-based Control Approach
  9. Experimental System Validation
  10. Path Accuracy and Dynamic Response
  11. Force Output and Dynamic Range
  12. Virtual Reality Interaction
  13. RESULTS AND DISCUSSION
  14. CONCLUSION

Figures (9)

  • Figure 1: The fabricated soft pneumatic continuum haptic device used in a handheld configuration for sensory substitution to the finger.
  • Figure 2: CAD model of the soft continuum haptic device. Inset depicts the assembled configuration of three SPA units.
  • Figure 3: Schematic of the pneumatic actuation and sensing system
  • Figure 4: Constant curvature model (A) configuration and (B) geometric space descriptions.
  • Figure 5: Experimental setup for (A) position, inset shows the close-up of the reference and control point visual markers, and (B) force output validation.
  • ...and 4 more figures