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Dexterous object manipulation requires suitable control of grip force, load force and digit positions. To keep an object stable in the air, force magnitude, force direction and digit positions should be coordinated, producing compensatory torque that could balance the external torque and maintain a minimal object roll. Six males and 6 females enrolled in the study. In the experiment, subjects were...
Industrial robots are introduced in not only large enterprises but also small and medium enterprises (SMEs). Professional engineers are required when introducing and maintaining industrial robots. However, sometimes it is difficult for SMEs to do this by themselves because of economical limitations. Therefore, in many cases, they need to ask the outside for the support. To assist this situation, an...
This paper proposes an immersive visuo-haptic display system composed of an easy-to-carry and light-weight passive haptic device and an HMD. We employ visuo-haptic interaction to control a wide range of perceived stiffness without using mechanical actuators that would inevitably make the device bulky and power-consuming. Via an HMD a user sees his or her own rendered hand with its finger flexion that...
The differences of force control capability among individual fingers have been studied in a wide range of contexts. However, the quantitative metric in term of the speed-accuracy tradeoff (SAT) between five fingers has not been systematically investigated. In this paper, we aim to explore this question by measuring SAT of each finger in a precision force control task. During the experiment, participants...
The Ouija board is a game associated with a type of involuntary motion called ideomotor action. We sought to clarify the conditions under which Ouija board motion occurs, by comparing visual and vibrotactile cues. We hypothesized that the ideomotor action of the Ouija board is caused by two factors: 1) visual and haptic movement cues, which lead to user movement, and 2) interactions between multiple...
We present design and impact studies of visual feedback for virtual grasping. The studies suggest new or updated guidelines for feedback. Recent grasping techniques incorporate visual cues to help resolve undesirable visual or performance artifacts encountered after real fingers enter a virtual object. Prior guidelines about such visuals are based largely on other interaction types and provide inconsistent...
Robotic in-hand manipulation is very important for service robots as it is one of the key skills in housework. Although plenty of research has been carried out, it is still far way from real applications. One of the issues lies in uncertainty of interaction states. In this paper we research robot-object interactions with a concept called ‘haptic exploration’. With this concept, a robot hand tries...
The front surface of the tablet style smartphone or computer is dominated by a touch screen. As a finger operation on the touch screen disturbs its visibility, it is assumed a finger touches the screen instantly. Under such restriction, use of the rear surface of the tablet for tactile display is promising as the fingers holding the tablet constantly touch it and feel the feedback steadily. In this...
This study examined the fingertip force variability on the left and right hand during low-level sustained precision pinch with the thumb and index finger. Ten healthy, right-handed subjects were required to pinch a device with a stable force output at 5 N for 1 min. The pinch force was recorded for the right and left hand, separately. Visual feedback was provided for the first 30 s and removed for...
Brain computer interface (BCI) control predominately uses visual feedback. Real arm movements, however, are controlled under a diversity of feedback mechanisms. The lack of additional BCI feedback modalities forces users to maintain visual contact while performing tasks. Such stringent requirements result in poor BCI control during tasks that inherently lack visual feedback, such as grasping, or when...
This study describes the design and feasibility testing of a hand rehabilitation system that provides haptic assistance for hand opening in moderate to severe hemiplegia while subjects attempt to perform bilateral hand movements. A cable-actuated exoskeleton robot assists the subjects in performing impaired finger movements but is controlled by movement of the unimpaired hand. In an attempt to combine...
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