Dataset Information

A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback.

ABSTRACT: Advances in soft robotics provide a unique approach for delivering haptic feedback to a user by a soft wearable device. Such devices can apply forces directly on the human joints, while still maintaining the safety and flexibility necessary for use in close proximity to the human body. To take advantage of these properties, we present a new haptic wrist device using pressure-driven soft actuators called reverse pneumatic artificial muscles (rPAMs) mounted on four sides of the wrist. These actuators are originally pre-strained and release compressive stress under pressure, applying a safe torque around the wrist joints while being compact and portable, representing the first soft haptic device capable of real-time feedback. To demonstrate the functional utility of this device, we created a virtual path-following task, wherein the user employs the motion of their wrist to control their embodied agent. We used the haptic wrist device to assist the user in following the path and study their performance with and without haptic feedback in multiple scenarios. Our results quantify the effect of wearable soft robotic haptic feedback on user performance. Specifically, we observed that our haptic feedback system improved the performance of users following complicated paths in a statistically significant manner, but did not show improvement for simple linear paths. Based on our findings, we anticipate broader applications of wearable soft robotic haptic devices toward intuitive user interactions with robots, computers, and other users.

SUBMITTER: Skorina EH

PROVIDER: S-EPMC7805937 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature

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A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback.

Skorina Erik H EH Luo Ming M Onal Cagdas D CD

Frontiers in robotics and AI 20180724

Advances in soft robotics provide a unique approach for delivering haptic feedback to a user by a soft wearable device. Such devices can apply forces directly on the human joints, while still maintaining the safety and flexibility necessary for use in close proximity to the human body. To take advantage of these properties, we present a new haptic wrist device using pressure-driven soft actuators called reverse pneumatic artificial muscles (rPAMs) mounted on four sides of the wrist. These actuat ...[more]

PMID: 33500962

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Project description:This study aims to explore a feasible form of a haptic device for common users. We propose HAPmini, a novel graspable haptic device that enhances the user's touch interaction. To achieve this enhancement, the HAPmini is designed with low mechanical complexity, few actuators, and a simple structure, while still providing force and tactile feedback to users. Despite having a single solenoid-magnet actuator and a simple structure, the HAPmini can provide haptic feedback corresponding to a user's 2-dimensional touch interaction. Based on the force and tactile feedback, the hardware magnetic snap function and virtual texture were developed. The hardware magnetic snap function helped users perform pointing tasks by applying an external force to their fingers to enhance their touch interaction performance. The virtual texture simulated the surface texture of a specific material through vibration and delivered a haptic sensation to users. In this study, five virtual textures (i.e., reproductions of the textures of paper, jean, wood, sandpaper, and cardboard) were designed for HAPmini. Both HAPmini functions were tested in three experiments. First, a comparative experiment was conducted, and it was confirmed that the hardware magnetic snap function could increase the performance of pointing tasks to the same extent as the software magnetic snap function could, which is commonly used in graphical tools. Second, ABX and matching tests were conducted to determine whether HAPmini could generate the five virtual textures, which were designed differently and sufficiently well for the participants to be distinguished from each other. The correctness rates of the ABX and the matching tests were 97.3% and 93.3%, respectively. The results confirmed that the participants could distinguish the virtual textures generated using HAPmini. The experiments indicate that HAPmini enhances the usability of touch interaction (hardware magnetic snap function) and also provides additional texture information that was previously unavailable on the touchscreen (virtual texture).

Project description:BACKGROUND: From the 1950s computer based renderings of molecules have been produced to aid researchers in their understanding of biomolecular structure and function. A major consideration for any molecular graphics software is the ability to visualise the three dimensional structure of the molecule. Traditionally, this was accomplished via stereoscopic pairs of images and later realised with three dimensional display technologies. Using a haptic feedback device in combination with molecular graphics has the potential to enhance three dimensional visualisation. Although haptic feedback devices have been used to feel the interaction forces during molecular docking they have not been used explicitly as an aid to visualisation. RESULTS: A haptic rendering application for biomolecular visualisation has been developed that allows the user to gain three-dimensional awareness of the shape of a biomolecule. By using a water molecule as the probe, modelled as an oxygen atom having hard-sphere interactions with the biomolecule, the process of exploration has the further benefit of being able to determine regions on the molecular surface that are accessible to the solvent. This gives insight into how awkward it is for a water molecule to gain access to or escape from channels and cavities, indicating possible entropic bottlenecks. In the case of liver alcohol dehydrogenase bound to the inhibitor SAD, it was found that there is a channel just wide enough for a single water molecule to pass through. Placing the probe coincident with crystallographic water molecules suggests that they are sometimes located within small pockets that provide a sterically stable environment irrespective of hydrogen bonding considerations. CONCLUSION: By using the software, named HaptiMol ISAS (available from http://www.haptimol.co.uk), one can explore the accessible surface of biomolecules using a three-dimensional input device to gain insights into the shape and water accessibility of the biomolecular surface that cannot be so easily attained using conventional molecular graphics software.

Dataset Information

A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback.

Publications

A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback.

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