Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger
<|reference_start|>Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger: 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.<|reference_end|>
@article{su2024three,
    title={Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for
  Telemanipulation Via Sensory Substitution at the Finger},
    author={Jiaji Su, Kaiwen Zuo, Zonghe Chua},
    journal={arXiv preprint arXiv:2409.11606},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.11606},
    primaryClass={cs.RO cs.HC cs.SY eess.SY}
}