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Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment

This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit, which tracks the motion of the user’s finger while its haptic functionality relies on two param...

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Autores principales: Tzemanaki, Antonia, Al, Gorkem Anil, Melhuish, Chris, Dogramadzi, Sanja
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805925/
https://www.ncbi.nlm.nih.gov/pubmed/33500941
http://dx.doi.org/10.3389/frobt.2018.00062
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author Tzemanaki, Antonia
Al, Gorkem Anil
Melhuish, Chris
Dogramadzi, Sanja
author_facet Tzemanaki, Antonia
Al, Gorkem Anil
Melhuish, Chris
Dogramadzi, Sanja
author_sort Tzemanaki, Antonia
collection PubMed
description This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit, which tracks the motion of the user’s finger while its haptic functionality relies on two parameters: pressure in the VCP and its linear displacement towards the fingertip. The combination of these two features results in various conditions of the FHD, which emulate the remote object or surface stiffness properties. Such a device can be used in tele-operation, including virtual reality applications, where rendering the level of stiffness of different physical or virtual materials could provide a more realistic haptic perception to the user. The FHD stiffness representation is characterised in terms of resulting pressure and force applied to the fingertip created through the relationship of the two functional parameters – pressure and displacement of the VCP. The FHD was tested in a series of user studies to assess its potential to create a user perception of the object’s variable stiffness. The viability of the FHD as a haptic device has been further confirmed by interfacing the users with a virtual environment. The developed virtual environment task required the users to follow a virtual path, identify objects of different hardness on the path and navigate away from “no-go” zones. The task was performed with and without the use of the variable compliance on the FHD. The results showed improved performance with the presence of the variable compliance provided by the FHD in all assessed categories and particularly in the ability to identify correctly between objects of different hardness.
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spelling pubmed-78059252021-01-25 Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment Tzemanaki, Antonia Al, Gorkem Anil Melhuish, Chris Dogramadzi, Sanja Front Robot AI Robotics and AI This paper presents the development of a wearable Fingertip Haptic Device (FHD) that can provide cutaneous feedback via a Variable Compliance Platform (VCP). The FHD includes an inertial measurement unit, which tracks the motion of the user’s finger while its haptic functionality relies on two parameters: pressure in the VCP and its linear displacement towards the fingertip. The combination of these two features results in various conditions of the FHD, which emulate the remote object or surface stiffness properties. Such a device can be used in tele-operation, including virtual reality applications, where rendering the level of stiffness of different physical or virtual materials could provide a more realistic haptic perception to the user. The FHD stiffness representation is characterised in terms of resulting pressure and force applied to the fingertip created through the relationship of the two functional parameters – pressure and displacement of the VCP. The FHD was tested in a series of user studies to assess its potential to create a user perception of the object’s variable stiffness. The viability of the FHD as a haptic device has been further confirmed by interfacing the users with a virtual environment. The developed virtual environment task required the users to follow a virtual path, identify objects of different hardness on the path and navigate away from “no-go” zones. The task was performed with and without the use of the variable compliance on the FHD. The results showed improved performance with the presence of the variable compliance provided by the FHD in all assessed categories and particularly in the ability to identify correctly between objects of different hardness. Frontiers Media S.A. 2018-06-12 /pmc/articles/PMC7805925/ /pubmed/33500941 http://dx.doi.org/10.3389/frobt.2018.00062 Text en Copyright © 2018 Tzemanaki, Al, Melhuish and Dogramadzi http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Tzemanaki, Antonia
Al, Gorkem Anil
Melhuish, Chris
Dogramadzi, Sanja
Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment
title Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment
title_full Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment
title_fullStr Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment
title_full_unstemmed Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment
title_short Design of a Wearable Fingertip Haptic Device for Remote Palpation: Characterisation and Interface with a Virtual Environment
title_sort design of a wearable fingertip haptic device for remote palpation: characterisation and interface with a virtual environment
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805925/
https://www.ncbi.nlm.nih.gov/pubmed/33500941
http://dx.doi.org/10.3389/frobt.2018.00062
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